findPointsInROI

Find points within a region of interest in the point cloud

Syntax

indices = findPointsInROI(ptCloud,roi)

Description

indices = findPointsInROI(ptCloud,roi) returns the points within a region of interest (ROI) in the input point cloud. The points within the specified ROI are obtained using a Kd-tree based search algorithm.

Input Arguments

ptCloud — Point cloud

pointCloud object

Point cloud, specified as a pointCloud object.

roi — Region of interest

six-element vector of form [xmin xmax ymin ymax zmin zmax]

Region of interest, specified as a six-element vector of form [xmin xmax ymin ymax zmin zmax], where:

• xmin and xmax are the minimum and the maximum limits along the x-axis respectively.

• ymin and ymax are the minimum and the maximum limits along the y-axis respectively.

• zmin and zmax are the minimum and the maximum limits along the z-axis respectively.

Output Arguments

indices — Indices of stored points

column vector

Indices of stored points, returned as a column vector. The vector contains the linear indices of the ROI points stored in the point cloud.

References

[1] 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.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

GPU Code Generation

Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

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Version History

Introduced in R2020b