MATLAB中用如下声明function distance = grassfire (occupancy, dest_row, dest_col)完成grassfire算法

`grassfire` 函数是一个基于距离变换的图像分割算法，用于计算给定目标点 `(dest_row, dest_col)` 与其他像素之间的距离。下面是一个函数声明和注释，用于在 Matlab 中实现该算法：

function distance = grassfire(occupancy, dest_row, dest_col)
% GRASSFIRE  Distance transform using the grassfire algorithm.
%   distance = GRASSFIRE(occupancy, dest_row, dest_col) computes the
%   distance transform of a binary occupancy grid using the grassfire
%   algorithm. The result is a matrix of the same size as the input matrix,
%   where each element represents the distance from the destination point
%   (dest_row, dest_col) to the corresponding pixel in the input occupancy
%   grid. The input matrix occupancy should contain binary values, where 1
%   represents an occupied pixel and 0 represents a free pixel.

% Initialize the distance matrix to infinity
distance = inf(size(occupancy));

% Set the distance of the destination point to 0
distance(dest_row, dest_col) = 0;

% Initialize the queue with the destination point
queue = [dest_row, dest_col];

% Process the queue until it is empty
while ~isempty(queue)
    % Get the next pixel from the queue
    pixel = queue(1, :);
    queue(1, :) = [];

    % Get the neighbors of the current pixel
    neighbors = get_neighbors(pixel, size(occupancy));

    % Update the distance of each neighbor if it is shorter than the
    % current distance
    for i = 1:size(neighbors, 1)
        neighbor = neighbors(i, :);
        if occupancy(neighbor(1), neighbor(2)) == 0 && ...
                distance(neighbor(1), neighbor(2)) > distance(pixel(1), pixel(2)) + 1
            distance(neighbor(1), neighbor(2)) = distance(pixel(1), pixel(2)) + 1;
            queue(end+1, :) = neighbor;
        end
    end
end

在这个函数中，输入参数 `occupancy` 是一个二值图像，表示占据情况，其中 1 表示占据，0 表示空闲。`dest_row` 和 `dest_col` 是目标点的行坐标和列坐标。输出结果 `distance` 是与每个像素到目标点的距离对应的距离矩阵。

该函数的实现基于以下步骤：

- 初始化距离矩阵为无穷大；
- 将目标点的距离设置为0，并将其添加到队列中；
- 处理队列中的每个像素，计算其相邻像素的距离，并更新距离矩阵和队列；
- 重复步骤3，直到队列为空。

在处理队列时，函数使用了 `get_neighbors` 函数来获取当前像素的相邻像素。`get_neighbors` 函数的实现如下：

function neighbors = get_neighbors(pixel, size)
% GET_NEIGHBORS  Get the neighbors of a pixel in an image.
%   neighbors = GET_NEIGHBORS(pixel, size) computes the neighbors of a
%   pixel in an image of size `size`. The input argument `pixel` is a
%   1x2 vector representing the row and column indices of the pixel. The
%   output `neighbors` is a 2xN matrix, where N is the number of neighbors,
%   and each column represents the row and column indices of a neighbor.

% Define the offsets for the neighbors
offsets = [
    -1, -1;
    -1,  0;
    -1,  1;
     0, -1;
     0,  1;
     1, -1;
     1,  0;
     1,  1;
];

% Compute the row and column indices of the neighbors
row = pixel(1) + offsets(:, 1);
col = pixel(2) + offsets(:, 2);

% Find the neighbors within the image boundaries
idx = row >= 1 & row <= size(1) & col >= 1 & col <= size(2);
neighbors = [row(idx), col(idx)]';

该函数根据像素的行列坐标计算出其相邻像素的行列坐标，并返回一个二维矩阵 `neighbors`，其中每一列都是一个相邻像素的行列坐标。