private void filterPoints(int[] depthMap) {
        for (int x = 0; x < resx; x++) {
            for (int y = 0; y < resy; y++) {
                int i = x + y * resx;
                if (i % nthpoint == 0) {
                    int z = depthMap[i];
                    if (z > minZ) {
                        Vector3D v = new Vector3D(x, y, z);
                        Vector3D v1 = sensor.convertProjectiveToRealWorld(v);
                        if (v1.getZ() < maxZ && v1.getY() > minY) {
			    points.add(v1);
                        }
                    }
                }
            }
        }
    }