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This commit is contained in:
nuknal
2024-05-27 14:55:59 +08:00
parent e9286e238b
commit 8a15159d05
8 changed files with 469 additions and 32 deletions
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229
image_registration.go
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@@ -4,7 +4,10 @@ import (
"bufio"
"fmt"
"image"
"image/color"
"math"
"os"
"sync"
"github.com/airbusgeo/godal"
log "github.com/sirupsen/logrus"
@@ -14,14 +17,15 @@ import (
type Registrate interface{}
const (
MssBands = 4
PixelBytes = 2
PanWidth = 9344 // 像素宽度
MssWidth = 2336
BlockNH = 5
BlockNW = 10
DownSampled ResampleMethod = "down_sample_pan"
UpSampled ResampleMethod = "up_sample_mss"
MssBands = 4
PixelBytes = 2
PanWidth = 9344 // 像素宽度
MssWidth = 2336
BlockNH = 8
BlockNW = 4
OverlappedBlockLines = 2000 // 重叠块的行数
DownSampled ResampleMethod = "down_sample_pan"
UpSampled ResampleMethod = "up_sample_mss"
)
type ResampleMethod string
@@ -35,9 +39,12 @@ type Registrator struct {
MssHeight int
MssWidth int
phaseShifts [4][]*PhaseShiftM
shiftMutex sync.Mutex
phaseShifts [4][]PhaseShiftM
deltaXCoeffs [4][]float64 // Polynomial fitting coefficients: 图像内畸变（非线性变换），捕捉图像在水平方向上引起的垂直方向的变形
deltaYCoeffs [4][]float64 // Polynomial fitting coefficients: 图像内畸变（非线性变换），捕捉图像在垂直方向上引起的水平方向的变形
registeredMssImages [4]gocv.Mat // 平移处理后升采样到PAN分辨率的MSS图像
registeredMssImages [4]gocv.Mat // 配准后的MSS图像
rgbirImage gocv.Mat
resampleMethod ResampleMethod
@@ -115,7 +122,7 @@ func (r *Registrator) LoadMssRaw(raw string) error {
}
// 将PAN降采样后计算相位相关的偏移量
func (r *Registrator) DoDownPhaseCorrelation() error {
func (r *Registrator) CalcDownPhaseCorrelation() error {
// 确保 MSS 高度是 PAN 高度的 1/4
if r.MssHeight*4 != r.PanHeight {
err := fmt.Errorf("MSS height is not 1/4 of PAN height, invalid raw file")
@@ -126,7 +133,7 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
// 将PAN将采样作为轮廓匹配基准图像
downsampledPanImage := gocv.NewMat()
gocv.Resize(r.PanImage, &downsampledPanImage,
image.Point{X: r.MssWidth, Y: r.MssHeight}, 0, 0, gocv.InterpolationLinear)
image.Point{X: r.MssWidth, Y: r.MssHeight}, 0, 0, gocv.InterpolationCubic)
fmt.Println("down sampled PAN images size:", downsampledPanImage.Size())
// 分块高度
@@ -134,8 +141,8 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
for band := 0; band < MssBands; band++ {
for bh := 0; bh < BlockNH; bh++ {
// 读取 PAN 和 MSS 分块数据
y1 := (bh + 1) * blockHeight
if bh == BlockNH-1 {
y1 := (bh+1)*blockHeight + 800
if y1 > r.MssHeight {
y1 = r.MssHeight
}
@@ -155,22 +162,127 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
mssBlock := r.MssImages[band].Region(rect)
// 处理每个分块
phaseShift := r.calculateBlockPhaseShift(panBlock, mssBlock)
phaseShift, response := r.calculateBlockPhaseShift(panBlock, mssBlock)
shiftM.dx = phaseShift.X
shiftM.dy = phaseShift.Y
shiftM.response = response
r.phaseShifts[band] = append(r.phaseShifts[band], &shiftM)
r.phaseShifts[band] = append(r.phaseShifts[band], shiftM)
panBlock.Close()
mssBlock.Close()
}
}
if err := r.DoMssPhaseShift(); err != nil {
log.Error("Error calculating MSS phase shift: ", err)
// if err := r.DoMssPhaseShift(); err != nil {
// log.Error("Error calculating MSS phase shift: ", err)
// return err
// }
for i := 0; i < MssBands; i++ {
for j, shift := range r.phaseShifts[i] {
if shift.response > 0.4 || shift.dy > 8 {
fmt.Printf("Band %d, block %d, dx=%f, dy=%f, response=%f\n",
i, j, shift.dx, shift.dy, shift.response)
}
}
}
r.calcDeltaCoeffs()
return nil
}
// 将MSS升采样采样后计算相位相关的偏移量
func (r *Registrator) CalcUpPhaseCorrelation() error {
// 确保 MSS 高度是 PAN 高度的 1/4
if r.MssHeight*4 != r.PanHeight {
err := fmt.Errorf("MSS height is not 1/4 of PAN height, invalid raw file")
log.Error(err)
return err
}
// 将PAN将采样作为轮廓匹配基准图像
var upsampledMssImages [MssBands]gocv.Mat
for i := 0; i < MssBands; i++ {
upsampledMssImages[i] = gocv.NewMat()
gocv.Resize(r.MssImages[i], &upsampledMssImages[i],
image.Point{X: r.PanWidth, Y: r.PanHeight}, 0, 0, gocv.InterpolationCubic)
}
fmt.Println("up sampled MSS images size:", upsampledMssImages[0].Size())
// 分块高度 - BlockNH, BlockNW % 4 == 0
blockHeight := r.PanHeight / BlockNH
blockWidth := r.PanWidth / BlockNW
log.Infof("blockHeight=%d, blockWidth=%d", blockHeight, blockWidth)
var wg sync.WaitGroup
for bh := 0; bh < BlockNH; bh++ {
for bw := 0; bw < BlockNW; bw++ {
wg.Add(1)
go func(bh, bw int) {
defer wg.Done()
x0 := bw * blockWidth
y0 := bh * blockHeight
x1 := (bw + 1) * blockWidth
y1 := (bh + 1) * blockHeight
y1 += OverlappedBlockLines // Y偏移量过大，需要将重叠块的行数加上，以避免边界影响
if x1 > r.PanWidth || y1 > r.PanHeight {
log.Warnf("Block out of range. x0=%d, y0=%d, x1=%d, y1=%d", x0, y0, x1, y1)
}
if y1 > r.PanHeight {
y1 = r.PanHeight
}
var shiftM PhaseShiftM
shiftM.Block.width = x1 - x0
shiftM.Block.height = y1 - y0
shiftM.Block.coord.X = x0 // 块左上角x坐标
shiftM.Block.coord.Y = y0 // 块左上角y坐标
rect := image.Rect(
x0, y0,
x1, y1,
)
panBlock := r.PanImage.Region(rect)
for band := 0; band < MssBands; band++ {
log.Println("Band", band+1, ", processing block", bh, rect)
mssBlock := upsampledMssImages[band].Region(rect)
// 处理每个分块
phaseShift, response := r.calculateBlockPhaseShift(panBlock, mssBlock)
shiftM.dx = phaseShift.X
shiftM.dy = phaseShift.Y
shiftM.response = response
r.shiftMutex.Lock()
r.phaseShifts[band] = append(r.phaseShifts[band], shiftM)
r.shiftMutex.Unlock()
mssBlock.Close()
}
panBlock.Close()
}(bh, bw)
}
}
wg.Wait()
for i := 0; i < MssBands; i++ {
for _, shift := range r.phaseShifts[i] {
if shift.response > 0.4 || shift.dx > 8 || shift.dy > 8 {
fmt.Printf("Band %d, block %d, dx=%f, dy=%f, response=%f\n",
i, shift.Block.coord.X, shift.dx, shift.dy, shift.response)
}
}
}
return nil
}
@@ -260,6 +372,8 @@ func (r *Registrator) SaveRegisteredMssToGDALGTiff(tiffFile string) error {
}
defer ds.Close()
setGeoTransform(ds, 0, 0, float64(width), float64(height), 1.2*4)
for b := 0; b < MssBands; b++ {
band := ds.Bands()[b]
err := band.IO(godal.IOWrite,
@@ -292,7 +406,10 @@ func (r *Registrator) SavePanToGDALGTiff(tiffFile string) error {
}
defer ds.Close()
// 将通道的数据转换为字节数组
setGeoTransform(ds, 0, 0, float64(width), float64(height), 1.2)
ds.SetMetadata("NBITS", "16")
// 将通道的数据转换为uint16数组
data := make([]uint16, width*height)
for y := 0; y < height; y++ {
for x := 0; x < width; x++ {
@@ -316,3 +433,77 @@ func (r *Registrator) SavePanToGDALGTiff(tiffFile string) error {
return nil
}
func (r *Registrator) Clean() {
r.PanImage.Close()
for i := 0; i < MssBands; i++ {
r.MssImages[i].Close()
}
for i := 0; i < MssBands; i++ {
r.registeredMssImages[i].Close()
}
r.rgbirImage.Close()
}
func (r *Registrator) calcDeltaCoeffs() error {
// 计算每个通道的delta多项式拟合系数
for i := 0; i < MssBands; i++ {
var cx []float64
var dx []float64
var dy []float64
effectShift := 0
for j, shift := range r.phaseShifts[i] {
if math.IsNaN(float64(shift.dx)) || math.IsNaN(float64(shift.dy)) {
continue
}
effectShift++
cx = append(cx, float64(shift.Block.coord.X+j)) // MSS 块在X方向没有分块
fmt.Println("effectShift:", effectShift, "cx:", shift.Block.coord.X, "dy:", shift.dy)
dx = append(dx, float64(shift.dx))
dy = append(dy, float64(shift.dy))
}
r.deltaXCoeffs[i] = PolynomialFit(cx, dx, 1)
r.deltaYCoeffs[i] = PolynomialFit(cx, dy, 2)
}
for i := 0; i < MssBands; i++ {
log.Printf("Band %d:\n delta_x = %.6f*x + %.6f, \n delta_y = %.6f*x^2 + %.6f*x + %.6f\n",
i+1,
r.deltaXCoeffs[i][1], r.deltaXCoeffs[i][0],
r.deltaYCoeffs[i][2], r.deltaYCoeffs[i][1], r.deltaYCoeffs[i][0])
}
return nil
}
func (r *Registrator) DoCoRegestration() error {
for band := 0; band < MssBands; band++ {
mapX := gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV32FC1)
mapY := gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV32FC1)
for y := 0; y < r.MssHeight; y++ {
for x := 0; x < r.MssWidth; x++ {
// dx := r.deltaXCoeffs[band][1]*float64(x) + r.deltaXCoeffs[band][0] + float64(x)
// dy := r.deltaYCoeffs[band][2]*float64(x*x) + r.deltaYCoeffs[band][1]*float64(x) + r.deltaYCoeffs[band][0] + float64(y)
// fmt.Println("x:", x, "dx:", dx, "y:", y, "dy:", dy)
mapX.SetFloatAt(y, x, float32(x)+float32(r.deltaXCoeffs[band][0]))
mapY.SetFloatAt(y, x, float32(y)+float32(r.deltaYCoeffs[band][0]))
}
}
log.Println("co-registration for band", band+1)
r.registeredMssImages[band] = gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV16UC1)
gocv.Remap(r.MssImages[band],
&r.registeredMssImages[band],
&mapX, &mapY,
gocv.InterpolationCubic,
gocv.BorderConstant,
color.RGBA{0, 0, 0, 0})
}
return nil
}