> For the complete documentation index, see [llms.txt](https://pcl.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://pcl.gitbook.io/tutorial/part-1/part01-chapter03/part01-chapter03-pcl-python.md).

# PCL-Python  (70%)

## 1. passthrough Filter

> Jupyter 버젼은 [\[이곳\]](https://github.com/adioshun/gitBook_Tutorial_PCL/blob/master/Beginner/Part01-Chapter03-PCL-Python-a.ipynb)에서 확인 가능 합니다.

```python
# 정의 
def do_passthrough(pcl_data,filter_axis,axis_min,axis_max):
    '''
    Create a PassThrough  object and assigns a filter axis and range.
    :param pcl_data: point could data subscriber
    :param filter_axis: filter axis
    :param axis_min: Minimum  axis to the passthrough filter object
    :param axis_max: Maximum axis to the passthrough filter object
    :return: passthrough on point cloud
    '''
    passthrough = pcl_data.make_passthrough_filter()
    passthrough.set_filter_field_name(filter_axis)
    passthrough.set_filter_limits(axis_min, axis_max)
    return passthrough.filter()


# 호출 
cloud = input_pcl_xyzrgb

filter_axis = 'x'
axis_min = 1.0
axis_max = 20.0
cloud = filter.do_passthrough(cloud, filter_axis, axis_min, axis_max)

filter_axis = 'y'
axis_min = -7.0
axis_max = 5.5
cloud = filter.do_passthrough(cloud, filter_axis, axis_min, axis_max)

filter_axis = 'z'
axis_min = -1.2
axis_max = 10.0
cloud = filter.do_passthrough(cloud, filter_axis, axis_min, axis_max)
```


---

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