showclusters

 SHOWCLUSTERS is a debugging function to check the clustering results.

 SHOWCLUSTERS is a debugging function to check the clustering results.
 
 USAGE:
     showclusters(angleVector,rangeMatrix,clstrs);
 
 INPUTS:
     angleVector: 1xN vector; angleVector lists the angles for the ranges
     in rangeMatrix.
 
     rangeMatrix: MxN array; Each row in rangeMatrix contains a laser scan
     with ranges at the angles specified in angleVector.
 
     clstrs: MxN array. clstrs should be the same size as rangeMatrix.
     Each element in clstrs is an integer indicating the line cluster the
     range to which reading belongs.

0001 function showclusters(angleVector,rangeMatrix,clstrs)
0002 % SHOWCLUSTERS is a debugging function to check the clustering results.
0003 %
0004 % SHOWCLUSTERS is a debugging function to check the clustering results.
0005 %
0006 % USAGE:
0007 %     showclusters(angleVector,rangeMatrix,clstrs);
0008 %
0009 % INPUTS:
0010 %     angleVector: 1xN vector; angleVector lists the angles for the ranges
0011 %     in rangeMatrix.
0012 %
0013 %     rangeMatrix: MxN array; Each row in rangeMatrix contains a laser scan
0014 %     with ranges at the angles specified in angleVector.
0015 %
0016 %     clstrs: MxN array. clstrs should be the same size as rangeMatrix.
0017 %     Each element in clstrs is an integer indicating the line cluster the
0018 %     range to which reading belongs.
0019 
0020 
0021 
0022 for cntr=1:size(rangeMatrix,1)
0023     dispclstrscore(angleVector,rangeMatrix(cntr,:),clstrs(cntr,:));
0024     title(num2str(cntr));
0025     pause;
0026     close;
0027 end