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

29 lines
811 B
Matlab

function [ PlaceIndexAndGridCenters ] = makeGridCellIndex ( xRange, yRange, PlaceCellSize )
xSize = xRange(2) - xRange(1);
ySize = yRange(2) - yRange(1);
nGridX = round(xSize/PlaceCellSize);
nGridY = round(ySize/PlaceCellSize);
xGridBoundaries = linspace(xRange(1), xRange(2), nGridX+1);
yGridBoundaries = linspace(yRange(1), yRange(2), nGridY+1);
nTotalIndex = nGridX * nGridY;
curAssignedIndex = 1;
PlaceIndexAndGridCenters = zeros(nTotalIndex, 3);
for ii=1:nGridX
xGridCenter = (xGridBoundaries(ii+1) + xGridBoundaries(ii))/2;
for jj=1:nGridY
yGridCenter = (yGridBoundaries(jj+1) + yGridBoundaries(jj))/2;
PlaceIndexAndGridCenters(curAssignedIndex, :) = [curAssignedIndex, xGridCenter, yGridCenter];
curAssignedIndex = curAssignedIndex + 1;
end
end
end