map match matlab

function varargout = mapMatch(varargin) %********************************************* %地图匹配的入门程序 %ma.yanbin@hotmail.com %********************************************* gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @mapMatch_OpeningFcn, ... 'gui_OutputFcn', @mapMatch_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 mapMatch is made visible. function mapMatch_OpeningFcn(hObject, eventdata, 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 mapMatch (see VARARGIN) % Choose default command line output for mapMatch handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes mapMatch wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = mapMatch_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 loadMap. function loadMap_Callback(hObject, eventdata, handles) [fileName,pathName]=uigetfile('*.jpg','载入地图'); fullName=strcat(pathName,fileName); mapData=imread(fullName); handles.mapData=mapData; guidata(hObject,handles); h=mywaitbar(0.1, 'loading...', mapMatch,100,60); for i=1:99 mywaitbar(i/100, h,['loaded ',num2str(i) '%']); pause(0.1); end mywaitbar(1, h,'load success'); pause(0.2) delete(h); axes(handles.mapAxes); imshow(mapData); function h = mywaitbar(x, whichbar, varargin) if ischar(whichbar) || iscellstr(whichbar) %调用格式为h = mywaitbar(p, 'title' , h_figure, x, y) if nargin == 5 h_f = waitbar(x, whichbar, 'visible', 'off'); %创建一个临时进度条 h1 = findall(h_f, 'type', 'axes'); %查找进度条内的坐标轴 h_axs = copyobj(h1, varargin{1}); %将进度条内的坐标轴及其子对象拷贝到指定窗口内 delete(h_f); pos = get(h_axs, 'position'); set(h_axs, 'position', [varargin{2}, varargin{3}, pos(3 : 4)]) end elseif isnumeric(whichbar) %调用格式为mywaitbar(p, h)或mywaitbar(p, h, 'title') h_axs = whichbar; p = findobj(h_axs,'Type','patch'); set(p, 'XData', [0 100*x 100*x 0]) if nargin == 3 %调用格式为mywaitbar(p, h, 'title') hTitle = get(h_axs, 'title'); set(hTitle, 'string', varargin{1}); end end if nargout == 1 %返回内嵌进度条的句柄 h = h_axs; end % --- Executes on button press in mapMatching. function mapMatching_Callback(hObject, eventdata, handles) image=handles.mapData; image_2=im2bw(image,0.56);%进行阈值化处理 参数可改 image_d=double(image_2); obj_row=55;%设定原始行位置 可改 obj_col=35;%设定原始列位置 可改 input_angle=30;%设定原始速度方向 可改 %----------------------------------------- A=8;%A为分块大小 分为A*A块大小 [m,n]=size(image_d); row=fix(m/A);%row为分块后的行数 col=fix(n/A);%col为分块后的列数 image_cell=mat2cell(image_d,ones(row,1)*A,ones(col,1)*A); image_array=ones(A,A,row*col); for k=1:row*col image_array(:,:,k)=image_cell{k}(:,:); end %----------------------------------------- temp_row=ceil((obj_row/A))+1; temp_col=ceil((obj_col/A))+1; number=(temp_col-1)*row+temp_row;%number为目标点所在的块的编号 %----------------------------------------- near(1)=number-1-row;%获得邻近块编号 near(2)=number-1; near(3)=number-1+row; near(4)=number-row; near(5)=number; near(6)=number+row; near(7)=number+1-row; near(8)=number+1; near(9)=number+1+row; %----------------------------------------- small=1000; final_i=0; fianl_j=0; final_k=0; flag=0;%标志是否找到匹配点 for k=1:9 for i=2:A-1 for j=2:A-1 if image_array(i,j,near(k))==0 temp_col_2=1+floor(near(k)/row); temp_row_2=near(k)-(temp_col_2-1)*row; temp_row_3=(temp_row_2-1)*A+i; temp_col_3=(temp_col_2-1)*A+j; dis=distance(temp_row_3,temp_col_3,obj_row,obj_col); temp=image_array(:,:,near(k)); angle=find_near_node(temp,i,j,k,input_angle); if deside(temp_col_3,temp_row_3,obj_col,obj_row) all=dis*0.6+angle*0.4; if all<=small small=dis; final_i=i;%最终匹配点 fianl_j=j;%最终匹配点 final_k=near(k);%最终匹配点 flag=1; end else flag=0; end end end end end %----------------------------------------- final_col=floor(final_k/row)+1; final_row=final_k-(final_col-1)*row; final_x=(final_row-1)*A+final_i; final_y=(final_col-1)*A+fianl_j; %----------------------------------------- axes(handles.mapAxes); hold on plot(obj_col,obj_row,'o'); place_x_o=num2str(obj_row); place_y_o=num2str(obj_col); clc; temp=['原始点位置为',place_x_o,'行',place_y_o,'列']; disp(temp); if flag==1 plot(final_y,final_x,'*') place_x=num2str(final_x); place_y=num2str(final_y); temp=['找到匹配点位置为',place_x,'行',place_y,'列']; disp(temp); else disp('附近没有可匹配的点，请尝试修改网格大小'); end