The compressive sensing theory basically says, a signal can be (even fully perhaps) recovered even when it is extremely under-sampled.
Normally, it is an inverse problem, meaning that if you have a signal $x$, then what you actually collect is some sorta forms of transformed $x$, say $y$. The transform can be represented as
$y=Fx$
where $F$ here is a transformation. For example, Fourier transform.
Say, $x$ is an image, and if you apply 2D Fourier transform to this image, you get its 2D spectrum $y$. Then you undersample $y$ with some mask function to get $y_u$ (this is what you mentioned to pick only some columns of $y$ ). Obviously, now if you apply direct inverse Fourier transform on $y_u$, you are not going to get a perfect $x$, because information has lost.
Now if you do compressive sensing, you can pretty much recover $x$ almost as good as original. The basic idea is to construct a cost function, and iteratively solve the problem. There are many ways to do so, but something like following:
$Minimize (WT (x))$
$S.t. \qquad y=Fx$
where $WT$ means wavelet transform.
There are many literature on this topic. Google is will give a lot of results. Hope this helps.