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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

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

example

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]);

Figure contains 2 axes objects. Axes object 1 with title Input Point Cloud contains an object of type scatter. Axes object 2 with title Selected Points contains an object of type scatter.

Input Arguments

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Point cloud, specified as a pointCloud object.

Linear or logical indices of selected points, specified as a vector or a matrix. For organized point clouds, indices (linear or logical), refer only to the first two dimensions of the Location property.

Row indices, specified as a vector. This argument applies only if the input is an organized point cloud with the Location 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 with the Location 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].

  • When working with organized point clouds and to return an organized point cloud, set outputSize to "full".

Output Arguments

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Point cloud, returned as a pointCloud object.

Extended Capabilities

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

Version History

Introduced in R2015a

See Also

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