pchandler.filters.cartesian_filters

Cartesian coordinate-based filters.

Classes

BoxFilter

Filter points by a 3D axis-aligned bounding box.

PolygonFilter

Filter points by a polygon projected on a specified plane.

SphereFilter

Filter points by a sphere with a defined center and radius.
class pchandler.filters.cartesian_filters.BoxFilter

Bases: PointCloudFilter

Filter points by a 3D axis-aligned bounding box.

__init__(minimum, maximum)

Filter points based on a 3D bounding box.

Parameters:

  • minimum (Vector_3_T) – Lower corner of the bounding box.

  • maximum (Vector_3_T) – Upper corner of the bounding box.

property extents: bool'>)]

Compute the extents of the bounding box per axis.

Returns:

maximum - minimum per axis.

Return type:

Vector_3_T

mask(pcd, mode='local')

Create a boolean mask for points within a 3D bounding box.

Parameters:

  • pcd (PointCloudData)

  • mode (Literal["local", "global"], default="local") – Defines the coordinate frame of reference for the bounding box.

Return type:

Vector_Bool_T

class pchandler.filters.cartesian_filters.SphereFilter

Bases: PointCloudFilter

Filter points by a sphere with a defined center and radius.

__init__(sphere_center, radius)

Filter points based on a sphere with a defined center and radius.

Parameters:

  • sphere_center (Vector_3_T) – Center of the sphere.

  • radius (PositiveFloat) – Radius of the sphere.

mask(pcd, mode='local')

Create a boolean mask for points within the sphere.

Parameters:

  • pcd (PointCloudData)

  • mode (Literal["local", "global"], default="local") – Defines the coordinate frame of reference for the bounding box.

Return type:

Vector_Bool_T

class pchandler.filters.cartesian_filters.PolygonFilter

Bases: PointCloudFilter

Filter points by a polygon projected on a specified plane.

__init__(polygon, plane='xy')

Filter points based on a polygon projected on a specified plane.

Parameters:

  • polygon (ValidatedPolygonT) – Polygon defining the filter region.

  • plane (PlaneStrings, default="xy") – Plane on which the polygon is projected.

mask(pcd, mode='local')

Create a boolean mask from the points inside the projected polygon.

Parameters:

  • pcd (PointCloudData)

  • mode (Literal["local", "global"], default="local") – Defines the coordinate frame of reference for the bounding box.

Return type:

Vector_Bool_T