select

Select points in point cloud

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Syntax

ptCloudOut = select(ptCloud,indices)
ptCloudOut = select(ptCloud,row,column)
ptCloudOut = select(___,'OutputSize',outputSize)

Description

example

ptCloudOut = select(ptCloud,indices) returns a pointCloud object containing only the points that are selected using linear indices.

ptCloudOut = select(ptCloud,row,column) returns a pointCloud object containing only the points that are selected using row and column subscripts. This syntax applies only if the input is an organized point cloud data of size M-by-N-by-3.

ptCloudOut = select(___,'OutputSize',outputSize) returns the selected points as a pointCloud object of size specified by outputSize.

Examples

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Open Live Script

Read a point cloud data into the workspace. 

ptCloud = pcread('teapot.ply');

Read the number of points in the point cloud data.

Length = ptCloud.Count;

Select indices within the range [1, Length]. 

stepSize = 10;
indices = 1:stepSize:Length;

Select points specified by the indices from input point cloud. This selection of points downsamples the input point cloud by a factor of stepSize.

ptCloudB = select(ptCloud,indices);

Display the input and the selected point cloud data.

figure
subplot(1,2,1)
pcshow(ptCloud)
title('Input Point Cloud','Color',[1 1 1]);
subplot(1,2,2)
pcshow(ptCloudB)
title('Selected Points','Color',[1 1 1]);

Input Arguments

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Point cloud, specified as a pointCloud object.

Indices of selected points, specified as a vector.

Row indices, specified as a vector. This argument applies only if the input is an organized point cloud data of size M-by-N-by-3.

Column indices, specified as a vector. This argument applies only if the input is an organized point cloud data of size M-by-N-by-3.

Size of the output point cloud, ptCloudOut, specified as 'selected' or 'full'.

  • If the size is 'selected', then the output contains only the selected points from the input point cloud, ptCloud.

  • If the size is 'full', then the output is same size as the input point cloud ptCloud. Cleared points are filled with NaN and the color is set to [0 0 0].

Output Arguments

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Point cloud, returned as a pointCloud object.

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™.

See Also

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Introduced in R2015a

Computer Vision Toolbox Documentation

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