resample method in particle filter

resampleSystematic.m

function [ indx ] = resampleSystematic(w,N)
Q = cumsum(w);

T = linspace(0,1-1/N,N) + rand(1)/N;
T(N+1) = 1;

i=1;
j=1;

indx = zeros(N,1);

while (i<=N),
    if (T(i)<Q(j)),
        indx(i)=j;
        i=i+1;
    else
        j=j+1;
    end
end

end