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findPointsInROI

Find points within a region of interest in the point cloud

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

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Point cloud, specified as a pointCloud object.

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

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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™.

See Also

Introduced in R2020b