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findPointsInROI

Class: pointCloud

Find points within ROI

Syntax

indices = findPointsInROI(ptCloud,roi)

Description

indices = findPointsInROI(ptCloud,roi) returns the points within a region of interest.

Input Arguments

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Point cloud, specified as a pointCloud object.

Region of interest, specified as a 3-by-2 matrix. The format defining the region of interest cuboid matrix is [xmin, xmax; ymin, ymax; zmin, zmax].

Output Arguments

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Linear indices to stored points, returned as a column vector. The indices vector contains the stored points in the ptCloud object.

Examples

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Create a point cloud object with randomly generated points.

ptCloudA = pointCloud(100*rand(1000,3,'single'));

Define a cuboid.

roi = [0,50;0,inf;0,inf];

Find all the points within the cuboid.

indices = findPointsInROI(ptCloudA, roi);
ptCloudB = select(ptCloudA,indices);

Display points within the ROI.

pcshow(ptCloudA.Location,'r');
hold on;
pcshow(ptCloudB.Location,'g');
hold off;

References

Muja, M. and David G. Lowe. "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration". In VISAPP International Conference on Computer Vision Theory and Applications. 2009. pp. 331–340.

Introduced in R2015a