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removeInvalidData

Remove invalid range and angle data

Description

validScan = removeInvalidData(scan)returns a new lidarScan object with all Inf and NaN values from the input scan removed. The corresponding angle readings are also removed.

example

validScan = removeInvalidData(scan,Name,Value)provides additional options specified by one or more Name,Value pairs.

Examples

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Specify lidar data as vectors of ranges and angles. These values include readings outside of the sensors range.

x = linspace(-2,2);
ranges = abs((1.5).*x.^2 + 5);
ranges(45:55) = 3.5;
angles = linspace(-pi/2,pi/2,numel(ranges));

Create a lidar scan by specifying the ranges and angles. Plot all points of the lidar scan.

scan = lidarScan(ranges,angles);
plot(scan)

Figure contains an axes object. The axes object with title LiDAR Scan contains an object of type line.

Remove invalid points based on a specified minimum and maximum range.

minRange = 0.1;
maxRange = 7;
scan2 = removeInvalidData(scan,'RangeLimits',[minRange maxRange]);
hold on
plot(scan2)
legend('All Points','Valid Points')

Figure contains an axes object. The axes object with title LiDAR Scan contains 2 objects of type line. These objects represent All Points, Valid Points.

Input Arguments

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Lidar scan readings, specified as a lidarScan object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: ["RangeLimits",[0.05 2]

Range reading limits, specified as a two-element vector, [minRange maxRange], in meters. All range readings and corresponding angles outside these range limits are removed

Data Types: single | double

Angle limits, specified as a two-element vector, [minAngle maxAngle] in radians. All angles and corresponding range readings outside these angle limits are removed.

Angles are measured counter-clockwise around the positivez-axis.

Data Types: single | double

Output Arguments

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Lidar scan readings, specified as a lidarScan object. All invalid lidar scan readings are removed.

Version History

Introduced in R2019b