道路障碍物识别

function varargout = untitled(varargin) % UNTITLED MATLAB code for untitled.fig % UNTITLED, by itself, creates a new UNTITLED or raises the existing % singleton*. % % H = UNTITLED returns the handle to a new UNTITLED or the handle to % the existing singleton*. % % UNTITLED('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in UNTITLED.M with the given input arguments. % % UNTITLED('Property','Value',...) creates a new UNTITLED or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before untitled_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to untitled_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help untitled % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @untitled_OpeningFcn, ... 'gui_OutputFcn', @untitled_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before untitled is made visible. function untitled_OpeningFcn(hObject, ~, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to untitled (see VARARGIN) % Choose default command line output for untitled handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes untitled wait for user response (see UIRESUME) % uiwait(handles.figure1); ha=axes('units','normalized','position',[0 0 1 1]); uistack(ha,'down'); II=imread('GUI.jpg'); image(II); colormap gray; set(ha,'handlevisibility','off','visible','off'); I=imread('GUI.jpg'); set(handles.pushbutton1,'cdata',I); I=imread('GUI.jpg'); set(handles.pushbutton2,'cdata',I); % --- Outputs from this function are returned to the command line. function varargout = untitled_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) figure; image_background=imread('背景1.png'); subplot(2,2,1);imshow(image_background);title('背景图') image_gray1=rgb2gray(image_background); image_original=imread('1-1.png'); subplot(2,2,2);imshow(image_original);title('原图'); image_gray2=rgb2gray(image_original); % M=double(I); % J=M; % for i=1:H-1 % for j=1:W-1 % J(i,j)=abs(M(i,j)-M(i+1,j+1))+abs(M(i+1,j)-M(i,j+1)); % figure; % for i=1:m-1 % for j=1:n-1 % robertsNum = abs(f(i,j)-f(i+1,j+1)) + abs(f(i+1,j)-f(i,j+1)); % if(robertsNum > threshold) % f2(i,j)=255; % else % f2(i,j)=0; % figure; Dk=imsubtract(image_gray2,image_gray1); %将矩阵image_gray2,image_gray1中对应的元素值做差，差值返回到矩阵Dk中 %image_gray2,image_gray1是具有相同大小和相同种类的非稀疏实数矩阵 %imsubtract可与imabsdiff互换，但imabsdiff可避免差值差生负值 image_bw=im2bw(Dk,0.2);%Dk是输入图像矩阵资料，0.2是二值化程度值，介于0到1之间，image_bw是二值化图像矩阵 subplot(2,2,3);imshow(image_bw);title('差分法后二值化图像'); Image_BW_medfilt=medfilt2(image_bw,[3 3]); Image_BW=edge(Image_BW_medfilt,'roberts'); %采用灰度或一个二值化图像Image_BW_medfilt作为它的输入，并返回一个与I相同大小的二值化图像Image_BW %在函数检测到边缘的地方为1，其他地方为0。 subplot(2,2,4);imshow(Image_BW);title('Roberts算子处理后图像'); se=strel('disk',30);%根据disk圆盘指定的类型创建一个结构元素，半径30 image=imdilate(Image_BW,se);%对输入图像Image_BW用结构元素se进行膨胀 figure;imshow(image);title('膨胀后图像'); [image_bwlabel,num]=bwlabel(image,8); %对目标区域进行标记 %返回一个和image大小相同的image_bwlabel矩阵，这里num返回的就是image中连通区域的个数。n的值为4或8，表示是按4连通寻找区域，还是8连通寻找，默认为8 %四连通或八连通是图像处理里的基本感念：8连通，是说一个像素，如果和其他像素在上、下、左、右、左上角、左下角、右上角或右下角连接着，则认为他们是联通的；4连通是指，如果像素的位置在其他像素相邻的上、下、左或右，则认为他们是连接着的，连通的，在左上角、左下角、右上角或右下角连接，则不认为他们连通 D=regionprops(image_bwlabel,'BoundingBox'); %求最小外接矩阵 %测量标注矩阵image_bwlabel中每一个标注区域的一系列属性。image_bwlabel中不同的正整数元素对应不同的区域 %'BoundingBox' 包含相应区域的最小矩形 figure;imshow(image_original);title('道路障碍物识别图像'); for i=1:num hold on %在当前图的轴（坐标系）中画了一幅图，再画另一幅图时，原来的图还在，与新图共存，都看得到 rectangle('position',D(i).BoundingBox,'EdgeColor','r','LineWidth',5); %用红框标出最小外接矩阵 %D(i).BoundingBox的作用是指定长方形的位置以及长、宽。 %D应该是自定义的一个表示某种状态的结构体数组变量,i表示数组的第i个元素，可能就是第i种状态 %BoundingBox表示这种状态的边界参数，包含位置，长、宽 end % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) % hObject handle to pushbutton2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) figure; image_background=imread('背景2.jpg'); subplot(2,2,1);imshow(image_background);title('背景图') image_gray1=rgb2gray(image_background); image_original=imread('2-1.jpg'); subplot(2,2,2);imshow(image_original);title('原图'); image_gray2=rgb2gray(image_original); Dk=imsubtract(image_gray2,image_gray1); image_bw=im2bw(Dk,0.2); subplot(2,2,3);imshow(image_bw);title('差分法后二值化图像'); Image_BW_medfilt=medfilt2(image_bw,[3 3]); Image_BW=edge(Image_BW_medfilt,'roberts'); subplot(2,2,4);imshow(Image_BW);title('Roberts算子处理后图像'); se=strel('disk',50); image=imdilate(Image_BW,se); figure;imshow(image);title('膨胀后图像'); % image_original1=imread('2-1.jpg'); % image_gray3=rgb2gray(image_original1); % % Dk1=imsubtract(image_gray3,image_gray1); % image_bw1=im2bw(Dk1,0.2); % % Image_BW_medfilt1=medfilt2(image_bw1,[3 3]); % Image_BW1=edge(Image_BW_medfilt1,'roberts'); % % se=strel('disk',30); % image1=imdilate(Image_BW1,se); [image_bwlabel,num]=bwlabel(image1,8); D=regionprops(image_bwlabel,'BoundingBox'); figure;imshow(image_original);title('道路障碍物识别图像'); for i=1:num hold on rectangle('position',D(i).BoundingBox,'EdgeColor','g','LineWidth',5); end