Processdata.m takes in lasercasts.txt and movements.txt (output from driving the helicopter sim), 
segments the data and generates 3-D landmarks (for FastSLAM) and flattened 2-D range scans (for DP-SLAM).

To see a pretty 3-D graph of the first timestep (or whatever timestep you want) of a data set and 
the resulting processed data:

Sampledrive contains data from driving the helicopter around in loops for 100 time steps.  
In Matlab, load sampledrive/lasercasts.txt and sampledrive/movements.txt.
Then run processdata.m.

Cyan is ground.
Red is landmark points.
Blue is treetop points (which are ignored).
Black *s are squashed landmark points.

The green circle above the rest of the plot shows the squashed range data for DP-SLAM.
The red circles show the 3-std circles around the landmark positions. 