I am planning to use the artificial potential field method to “partially avoid obstacles”. My scene is relatively simple, consisting of a flat ground and some walls, and there will be some irregular obstacles in the scene (such as school bags placed on the ground).
I plan to first remove the floor from the point cloud data, and then perform two-dimensional gridding. Finally, I will calculate the potential field of these gridded data seat obstacles.
But now I have some problems:
How to remove ground from a point cloud? I am currently using
camera.retrieveMeasure(points, MEASURE::XYZ, memory_type, image_size) to obtain real-time point cloud data. I want to know how to remove the floor from the point cloud data?
My Mat is currently processed directly on the GPU. How can I convert these processed point clouds into two-dimensional grids in the fastest and least CPU intensive way?