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Remove invalid points from point cloud

Since R2020b


[ptCloudOut,indices] = removeInvalidPoints(ptCloud) removes points with Inf or NaN coordinate values from point cloud and returns the indices of valid points. This function requires a Computer Vision Toolbox™ license.

Input Arguments

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Point cloud, specified as a pointCloud object.

Output Arguments

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Point cloud, returned as a pointCloud object with Inf or NaN coordinates removed.


The output is always an unorganized (X-by-3) point cloud. If the input ptCloud is an organized point cloud (M-by-N-by-3), the function returns the output as an unorganized point cloud.

Indices of valid points in the point cloud, specified as a vector.

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™.

Version History

Introduced in R2020b