Find points within a region of interest in the point cloud

`indices = findPointsInROI(ptCloud,roi)`

`indices = findpointsInROI(ptCloud,roi,camMatrix)`

returns the points within a ROI in the input point cloud. The input point cloud is an
organized point cloud data generated by a depth camera. The points within the specified ROI
are obtained using fast approximate neighbor search algorithm. The function uses the camera
projection matrix `indices`

= findpointsInROI(`ptCloud`

,`roi`

,`camMatrix`

)`camMatrix`

to know the relationship between adjacent
points and hence, speeds up the search. However, the results have lower accuracy as compared
to the Kd-tree based approach.

This function only supports organized point cloud data produced by RGB-D sensors.

You can use

`estimateCameraMatrix`

to estimate camera projection matrix for the given point cloud data.

[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.