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I think you can implement this just by iterating through the points and checking points direction with atan2.

Let’s say that you will like to filter points in between theta1 and theta2. Then simply iterate through each point and perform a check;

If(theta1 <= atan2(point.y, point.x) <= theta2) {
  //  Skip this point } else { 
  Filteredcloud.points.push_back(point) }

Note that this code has not been tested and is provided only for illustrating an possible solution