def pass_through_filter(cloud, filter_axis='z', axis_limit=(0.6, 1.1)):
    """
    Cut off filter

    Params:
        cloud: pcl.PCLPointCloud2
        filter_axis: 'z'|'y'|'x' axis 
        axis_limit: range

    Returns:
        filtered cloud: pcl.PCLPointCloud2
    """

    # Create a PassThrough filter object.
    passthrough = cloud.make_passthrough_filter()

    # Assign axis and range to the passthrough filter object.
    passthrough.set_filter_field_name(filter_axis)
    passthrough.set_filter_limits(axis_limit[0], axis_limit[1])

    return passthrough.filter()