Resampling of xy-coordinates based on cumulative length (NOT time)

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J AI
J AI 2021-5-18
编辑： J AI 2021-5-18
The cumulative lengths for a set of x1 and y1 coordinates ("waypointsOriginal" in the mat file attached) can be obtained using the function (function file attached as well):
[cumLengthWP,~,~] = CalcCurvature(waypointsOriginal(:,1:2));
However, I was wondering, for a vector cumLength (also can be found in the mat file) which has a different dimension, is there a way to find the corresponding x2 and y2 coordinates such that when I do
plot(x1,y1,'r',x2,y2,'b')
the two plots will be identical?
Thank you in advance for your effort and time. I will be glad to clarify any confusion regarding the question.
FYI: I am not looking for time resampling foor which I know we can use the resample command.

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回答（1 个）

J AI
J AI 2021-5-18
编辑：J AI 2021-5-18
I have found a workaround for this which works for my particular application. I have basically used the polyfit function:
load('waypointsData.mat')
px = polyfit(cumLengthWP,waypointsOriginal(:,1),3); % using 3rd order polynomial
py = polyfit(cumLengthWP,waypointsOriginal(:,2),3); % using 3rd order polynomial
for i = 1:length(cumLength)
waypoints_resampled(i,1) = px(1)*cumLength(i)^3 + px(2)*cumLength(i)^2 + px(3)*cumLength(i) + px(4); % x2
waypoints_resampled(i,2) = py(1)*cumLength(i)^3 + py(2)*cumLength(i)^2 + py(3)*cumLength(i) + py(4); % y2
end
plot(waypoints_resampled(:,1),waypoints_resampled(:,2),'r',waypointsOriginal(:,1),waypointsOriginal(:,2),'b--')
legend('Resampled','Original')
I definitely look forward to hearing more efficient way(s). Thanks again!

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