gps image-time attitude 拟合精度

pkg/producer/grid_img.go

@@ -6,15 +6,15 @@ type GridPoint struct {
 
 // 网格点要覆盖边界，甚至大于边界
 func gridImage2(m, n, height, width, k, hmin, hmax int) []*GridPoint {
-	a := int((height) / (m))
+	a := int((height) / (m + 1))
 	var lines []int
-	for i := 0; i <= m; i++ {
+	for i := 1; i <= m; i++ {
 		lines = append(lines, a*i)
 	}
 
-	b := int((width) / (n))
+	b := int((width) / (n + 1))
 	var samples []int
-	for i := 0; i <= n; i++ {
+	for i := 1; i <= n; i++ {
 		samples = append(samples, b*i)
 	}
 
@@ -23,14 +23,14 @@ func gridImage2(m, n, height, width, k, hmin, hmax int) []*GridPoint {
 	dh := (hmax - hmin) / (k)
 
 	var h []int
-	for i := 0; i <= k; i++ {
+	for i := 1; i <= k; i++ {
 		h = append(h, hmin+dh*i)
 	}
 
 	var points []*GridPoint
-	for i := 0; i < len(lines); i++ {
-		for j := 0; j < len(samples); j++ {
-			for l := 0; l < len(h); l++ {
+	for l := 0; l < len(h); l++ {
+		for i := 0; i < len(lines); i++ {
+			for j := 0; j < len(samples); j++ {
 				p := GridPoint{lines[i], samples[j], h[l]}
 				points = append(points, &p)
 			}