scan-context/src/example/longterm_localization/NCLT/2012-01-15/1_DataMaker/helper/ScaleSc2Img.m

34 lines
743 B
Matlab

function [ scScaled ] = ScaleSc2Img( scOriginal, minHeight, maxHeight )
maxColor = 255;
rangeHeight = maxHeight - minHeight;
nRows = size(scOriginal, 1);
nCols = size(scOriginal, 2);
scOriginalRangeCut = scOriginal;
% cut into range
for ithRow = 1:nRows
for jthCol = 1:nCols
ithPixel = scOriginal(ithRow, jthCol);
if(ithPixel >= maxHeight)
scOriginalRangeCut(ithRow, jthCol) = maxHeight;
end
if(ithPixel <= minHeight)
scOriginalRangeCut(ithRow, jthCol) = minHeight;
end
scOriginalRangeCut(ithRow, jthCol) = round(scOriginalRangeCut(ithRow, jthCol) * (maxColor/rangeHeight));
end
end
scScaled = scOriginalRangeCut;
end