# findPointsInROI

Find points within a region of interest in the point cloud

## Description

returns the points within the ROI area of the input point cloud. The input point cloud is an
organized point cloud generated by a depth camera. The points within the specified ROI are
obtained using fast approximate neighbor search algorithm.`indices`

= findPointsInROI(`ptCloud`

,`roi`

,`camMatrix`

)

The function uses the camera projection matrix `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.

**Note**

This syntax 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.

## Examples

## Input Arguments

## Output Arguments

## 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

## Version History

**Introduced in R2015a**