How to filter and plot a PointCloud into an occupancy grid?
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I took a pointcloud with a Xbox Kinect and transformed it into world coordinates.
This is the code I used:
%The forward mapping is the composition of T1, T2, and T3.
T = T4 * T3 * T2
tform = affine3d(T)
ptCloud = pointCloud(xyzPoints)
ptCloudIn = ptCloud
ptCloudOut = pctransform(ptCloudIn,tform)
% showPointCloud(ptCloudOut, 'VerticalAxis', 'Y', 'VerticalAxisDir', 'up');
% xlabel('X (m)');
% ylabel('Y (m)');
% zlabel('Z (m)');
You can see the Pointcloud in the picture.
Now I want to filter out all points that are 0 and higher than 1,5 in Z. Then I want to plot the pointcloud into an 2D occupancy grid. I am using 2015a and don't have the robotics toolbox.
I am new in MATLAB, so it would be nice if you can describe in detail.
Thank you very much!