dispclstrscore

 DISPCLSTRSCORE displays the line clustered scan with scores.

 DISPCLSTRSCORE displays the line clustered scan with scores. 'score' is
 an optional input.

 USAGE:
     dispclstrscore(angleVector,rangeVector,clstrs,scores);
 
 INPUTS:
     angleVector: 1xN vector; angleVector lists the angles for the ranges
     in rangeMatrix.
 
     rangeVector: 1xN vector; ranges of laser scan
 
     clstrs: 1xN vector, cluster numbers of laser points
 
     scores: 1xM vector, where M is the number of clusters. 'scores'
     includes the score for each cluster

0001 function dispclstrscore(theta,ranges,clstrs,score,hflag)
0002 % DISPCLSTRSCORE displays the line clustered scan with scores.
0003 %
0004 % DISPCLSTRSCORE displays the line clustered scan with scores. 'score' is
0005 % an optional input.
0006 %
0007 % USAGE:
0008 %     dispclstrscore(angleVector,rangeVector,clstrs,scores);
0009 %
0010 % INPUTS:
0011 %     angleVector: 1xN vector; angleVector lists the angles for the ranges
0012 %     in rangeMatrix.
0013 %
0014 %     rangeVector: 1xN vector; ranges of laser scan
0015 %
0016 %     clstrs: 1xN vector, cluster numbers of laser points
0017 %
0018 %     scores: 1xM vector, where M is the number of clusters. 'scores'
0019 %     includes the score for each cluster
0020 
0021 if ~exist('hflag','var') || isempty(hflag)
0022     hflag=0;
0023 end
0024 
0025 hold on;
0026 k=max(clstrs);
0027 h=min(clstrs);
0028 noclstrs=k-h+1;
0029 cmap=lines(noclstrs);
0030 [z,x]=pol2cart(theta,ranges);
0031 
0032 xcent=zeros(1,k-h+1);
0033 zcent=zeros(1,k);
0034 
0035 % get centroids
0036 for cntr=1:noclstrs
0037     xcent(cntr)=mean(x(clstrs==h+cntr-1));
0038     zcent(cntr)=mean(z(clstrs==h+cntr-1));
0039 end
0040 
0041 if ~exist('score','var')
0042     score=unique(clstrs);
0043 end
0044 
0045 
0046 for cntr=1:noclstrs
0047     plot(x(clstrs==h+cntr-1),z(clstrs==h+cntr-1),'.','color',cmap(cntr,:));
0048 %     plot(x(clstrs==cntr),z(clstrs==cntr),'color',cmap(cntr,:));
0049     if noclstrs>2
0050         text(xcent(cntr),zcent(cntr),num2str(score(cntr)));
0051     end
0052 end
0053 
0054 
0055 plot(0,0,'o');
0056 % axis manual;
0057 axis image;
0058 xlabel('laser range finder at (0,0), units: mm');
0059 grid on;
0060 
0061 hold off;