removeWorldPoints

Remove world points from world point set

Syntax

wpSet = removeWorldPoints(wpSet,pointIndices)

wpSet = removeWorldPoints(wpSet,pointIds)

Description

wpSet = removeWorldPoints(wpSet,pointIndices) removes the world points at the specified indices pointIndices from the world point set wpSet. Use this syntax if you added points using the addWorldPoints function without specifying unique point identifiers pointIds.

wpSet = removeWorldPoints(wpSet,pointIds) removes the world points specified by pointIDs from the world point set wpSet. Use this syntax if you added points using the addWorldPoints function by specifying unique point identifiers pointIds.

Examples

Remove Points from World Point Set

Generate 3-D world points.

worldPoints = rand(100,3);

Create a worldpointset object.

wpSet = worldpointset;

Add the world points to the world point set. Display the world point set.

[wpSet,newPointIndices] = addWorldPoints(wpSet,worldPoints);
wpSet

wpSet = 
  worldpointset with properties:

                   WorldPoints: [100×3 single]
                       ViewIds: [1×0 uint32]
                      PointIds: [1×0 uint32]
              ViewingDirection: [100×3 single]
                DistanceLimits: [100×2 single]
          RepresentativeViewId: [100×1 double]
    RepresentativeFeatureIndex: [100×1 double]
                         Count: 100
               Correspondences: [100×3 table]

Remove the first 50 world points from the world point set.

wpSet = removeWorldPoints(wpSet,newPointIndices(1:50))

wpSet = 
  worldpointset with properties:

                   WorldPoints: [50×3 single]
                       ViewIds: [1×0 uint32]
                      PointIds: [1×0 uint32]
              ViewingDirection: [50×3 single]
                DistanceLimits: [50×2 single]
          RepresentativeViewId: [50×1 double]
    RepresentativeFeatureIndex: [50×1 double]
                         Count: 50
               Correspondences: [50×3 table]

Remove Points from World Point Set

Generate 3-D world points.

worldPoints = rand(100,3);

Generate pointIds.

pointIds = randperm(100);

Create a worldpointset object.

wpSet = worldpointset;

Add the world points to the world point set. Display the world point set.

[wpSet,newPointIndices] = addWorldPoints(wpSet,worldPoints,pointIds);

wpSet

Remove the first 50 world points from the world point set.

wpSet = removeWorldPoints(wpSet,pointIds(1:50))

wpSet = 
  worldpointset with properties:

                   WorldPoints: [50×3 single]
                       ViewIds: [1×0 uint32]
                      PointIds: [16 67 75 39 12 5 27 54 47 62 80 89 77 95 83 30 71 14 29 11 53 56 64 2 55 52 9 87 44 15 24 8 93 7 85 18 23 70 92 63 91 42 48 41 13 68 86 50 34 59]
              ViewingDirection: [50×3 single]
                DistanceLimits: [50×2 single]
          RepresentativeViewId: [50×1 double]
    RepresentativeFeatureIndex: [50×1 double]
                         Count: 50
               Correspondences: [50×3 table]

Input Arguments

wpSet — World point set

worldpointset object

World point set, specified as a worldpointset object.

pointIndices — World point indices

M-element array vector of integers

World point indices, specified as an M-element vector of integers. M is the number of world points to remove from the worldpointset object. Use this input when sequential indices are used to identify points.

• pointIds — Unique identifiers assigned to points when using the addWorldPoints to add points.

• pointIndices — Sequential identifiers assigned to points.

pointIds — World point identifiers

M-element array vector of integers

World point identifiers, specified as an M-element vector of integers. M is the number of world points to remove from the worldpointset object. Use this input if you used the addWorldPoints function when points were added.

• pointIds — Unique identifiers assigned to points when using the addWorldPoints to add points.

• pointIndices — Sequential identifiers assigned to points.

Output Arguments

wpSet — World point set

worldpointset object

World point set, returned as a worldpointset object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2020b

R2024a: Use unique point identifiers to specify world points

New for this release, you can use pointIds to specify unique point IDs to specify world points. In prior releases if you did not specify unique identifiers when points were added, then points were saved with sequential identifiers. World points can only be saved with one method, either using sequential pointIndices or with unique IDs pointIDs. The function will return an error if both types of IDs are passed into it.