matlab工具箱矢量地图处理

function varargout = MapHandle(varargin) % MAPHANDLE MATLAB code for MapHandle.fig % MAPHANDLE, by itself, creates a new MAPHANDLE or raises the existing % singleton*. % % H = MAPHANDLE returns the handle to a new MAPHANDLE or the handle to % the existing singleton*. % % MAPHANDLE('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in MAPHANDLE.M with the given input arguments. % % MAPHANDLE('Property','Value',...) creates a new MAPHANDLE or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before MapHandle_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to MapHandle_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 MapHandle % Last Modified by GUIDE v2.5 19-May-2020 21:49:37 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @MapHandle_OpeningFcn, ... 'gui_OutputFcn', @MapHandle_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 MapHandle is made visible. function MapHandle_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 MapHandle (see VARARGIN) set(hObject,'toolbar','figure') ; set(handles.MapImport,'Enable','on'); set(handles.NoisePointDelete,'Enable','off'); set(handles.PathSmooth,'Enable','off'); set(handles.stRoadRadius,'Enable','off'); set(handles.reConstruct,'Enable','off'); set(handles.LeftRoad,'Enable','off'); set(handles.RightRoad,'Enable','off'); set(handles.AEBLeftRoad,'Enable','off'); set(handles.AEBRightRoad,'Enable','off'); set(handles.LeftAvoidObstacle,'Enable','off'); set(handles.RightAvoidObstacle,'Enable','off'); set(handles.MapExport,'Enable','off'); % Choose default command line output for MapHandle handles.output = hObject; % Update handles structure guidata(hObject, handles); global output; output = string(get(handles.StatusInformation,'string')); set(handles.StatusInformation,'string',output); index = size(get(handles.StatusInformation,'string'),1); set(handles.StatusInformation,'value',index); % listbox的哪一行 % UIWAIT makes MapHandle wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = MapHandle_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 MapImport. function MapImport_Callback(hObject, eventdata, handles) % hObject handle to MapImport (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global output; output = [output;string(get(handles.MapImport,'string'))];%% 字符串数组维度需要一致。 set(handles.StatusInformation,'string',output); index = size(get(handles.StatusInformation,'string'),1); set(handles.StatusInformation,'value',index); % listbox的哪一行 global fpath; global filename; [filename,pathname] = uigetfile({'*.csv','CSVFiles(*.csv)';... '*.*','AllFiles(*.*)'},'选择地图文件'); fpath=[pathname filename]; if fpath == 0 return end output = [output;strcat(output(end,:) ,('100%'))];%% 字符串数组维度需要一致。 set(handles.StatusInformation,'string',output); index = size(get(handles.StatusInformation,'string'),1); set(handles.StatusInformation,'value',index); % listbox的哪一行 global data; % axes(handles.axes1); % % cla(handles.axes1); % axes(handles.axes1); stReadfile_method = 2;%0 csvred;1 importdata;2 textread; if stReadfile_method == 0 data = csvread(fpath,1,0);% 因为有字符串不方便用csvred end if stReadfile_method == 1 a=importdata(fpath,',') ; %去掉标题行 Rawdata = a.textdata(2:end,:); strdata = [Rawdata(:,25:28) Rawdata(:,31) ]; ValidData = [str2double(strdata) a.data(:,1)]; data1=ValidData(find(ValidData(:,6)~=0),:); data =[ data1(:,1:4) data1(:,6) data1(:,5)]; end if stReadfile_method == 2 a = textread(fpath,'%s','delimiter',',' ,'headerlines',1); col=38; %\ line=length(a)/col; % -- 重新排列 c=reshape(a,col,line)'; %/ data_valid = [c(:,25:28) c(:,37) c(:,31)];%37->34 ValidData = str2double(data_valid); data=ValidData(find(ValidData(:,6)~=0),:); end plot(handles.axes1,data(:,3),data(:,4),'.b'); axis equal; set(handles.NoisePointDelete,'Enable','on'); set(handles.MapImport,'Enable','off'); function edit1_Callback(hObject, eventdata, handles) % hObject handle to edit1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of edit1 as text % str2double(get(hObject,'String')) returns contents of edit1 as a double % --- Executes during object creation, after setting all properties. function edit1_CreateFcn(hObject, eventdata, handles) % hObject handle to edit1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes on button press in NoisePointDelete. function NoisePointDelete_Callback(hObject, eventdata, handles) % hObject handle to NoisePointDelete (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global output; % output = [output;string(get(handles.NoisePointDelete,'string'))];%% 字符串数组维度需要一致。 output = [output;'删除噪声点'];%% 字符串数组维度需要一致。 set(handles.StatusInformation,'string',output); index = size(get(handles.StatusInformation,'string'),1); set(handles.StatusInformation,'value',index); % listbox的哪一行 pause(0.1); global data; global data_eleminate; data_length = length(data(:,1)); data_column = length(data(1,:)); i = 1; j = 1; %data_test = data(i+1:) while (i < data_length) Dist = sqrt((data(i+1,3) - data(i,3))^2 + (data(i+1,4) - data(i,4))^2); % Dist = sqrt((data(i+1,1) - data(i,1))^2 + (data(i+1,2) - data(i,2))^2); distance(i) = Dist; if (Dist > 0.01)%保留两点之间间隔大于0.1的点 % for k = 1:1:13 %地图列数 for k = 1:1:data_column %地图列数 data_eleminate(j,k) = data(i,k); end j = j + 1; end i = i + 1; end %% 闭环删除首尾相接点 % xlast = data_eleminate(end-200:end,3);%xx(1,end-200:end); % ylast =