美人鱼图像双目配准-Mermaid

前言：

我在进行一项双目测距的项目，已经通过matlab 进行了相机标定，如果手动选择左右图像里的相同物体，是可以给出可接受距离的。

但是现在我希望能够让左视图的坐标点和右视图的坐标点进行匹配（如下图）

于是，我分别使用了ORB 关键点匹配进行投射变换、美人鱼图像配准得到变换矩阵

ORB 关键点匹配

思路：

先进行关键点匹配，由于双目图像已经是标定后的，所以一般来说可以认为图像是水平的。

那么可以过滤一下匹配点，把斜率超过0.1的全部筛掉，只保留水平匹配线。

效果：

不是那么理想，进行变换后，发现由于物体的远近，导致配准时候只保留了最前端物体的匹配。所有只有部分数据是可以进行距离测量的。

代码：

'''
-*- coding: utf-8 -*-
@File  : match.py
@Author: Shanmh
@Time  : 2024/03/22 上午9:50
@Function： 关键点匹配进行投射变换
'''

import cv2
import imutils
import numpy as np
import math
import time
import os


def align_images(image, template, maxFeatures=100000, keepPercent=1,
                 debug=False):
    # use the homography matrix to align the images
    (h, w) = template.shape[:2]
    print(image.shape)
    print(template.shape)


    # convert both the input image and template to grayscale
    imageGray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    templateGray = cv2.cvtColor(template, cv2.COLOR_BGR2GRAY)

    # use ORB to detect keypoints and extract (binary) local
    # invariant features
    orb = cv2.ORB_create(nfeatures = maxFeatures,
             scaleFactor = 1.2,
             nlevels = 32,
             edgeThreshold = 16,
             firstLevel = 2,
             WTA_K = 4,
             scoreType = 1,
             patchSize = 8,
             fastThreshold = 20)


    (kpsA, descsA) = orb.detectAndCompute(imageGray, None)
    (kpsB, descsB) = orb.detectAndCompute(templateGray, None)

    method = cv2.DESCRIPTOR_MATCHER_BRUTEFORCE_HAMMING
    matcher = cv2.DescriptorMatcher_create(method)
    matches = matcher.match(descsA, descsB, None)

    # sort the matches by their distance (the smaller the distance,

    matchesall = sorted(matches, key=lambda x: x.distance)

    keep = int(len(matchesall) * 0.5)
    matches=matchesall[:keep]

    new_match=[]
    image_show=np.concatenate((image,template),axis=1)
    # 匹配角度过滤
    for match in matches:
        query_idx = match.queryIdx
        train_idx = match.trainIdx
        distance = match.distance
        pt1=(int(kpsA[query_idx].pt[0]),int(kpsA[query_idx].pt[1]))
        pt2=int(kpsB[train_idx].pt[0]+w),int(kpsB[train_idx].pt[1])
        dw=abs(pt1[0]-pt2[0])
        dh=abs(pt1[1]-pt2[1])

        if dh/dw<0.1  :
            if debug:
                # cv2.line(image_show,pt1,pt2,(0,0,255), thickness=1)
                cv2.circle(image_show, pt1, 2, (0, 255, 0), -1)
                cv2.circle(image_show, pt2, 2, (0, 255, 0), -1)
            new_match.append(match)


    if debug:
        cv2.imshow("show",image_show)
    matches=new_match


    # check to see if we should visualize the matched keypoints
    if debug:
        matchedVis = cv2.drawMatches(image, kpsA, template, kpsB,
                                     matches, None)
        matchedVis = imutils.resize(matchedVis, width=1000)
        cv2.imshow("Matched Keypoints", matchedVis)
        cv2.waitKey(0)

    ptsA = np.zeros((len(matches), 2), dtype="float")
    ptsB = np.zeros((len(matches), 2), dtype="float")
    for (i, m) in enumerate(matches):
        ptsA[i] = kpsA[m.queryIdx].pt
        ptsB[i] = kpsB[m.trainIdx].pt

    (H, mask) = cv2.findHomography(ptsA, ptsB, method=cv2.RANSAC)
    (h, w) = template.shape[:2]
    print(template.shape)
    # aligned2 = cv2.warpPerspective(image, H, (w, h))
    return H



if __name__ == '__main__':
    pass
    imgl=cv2.imread("../test240421/llll.jpg")[100:-100,:,:]
    imgl=cv2.imread("/home/hxzh/PycharmProjects/StereoVision/im1E.png")
    imgl=cv2.resize(imgl,(900,720))
    imgr=cv2.imread("../test240421/rrrr.jpg")[100:-100,:,:]
    imgr=cv2.imread("/home/hxzh/PycharmProjects/StereoVision/im1L.png")
    imgr=cv2.resize(imgr,(900,720))

    homography=align_images(imgl,imgr,debug=True)
    image_con = np.concatenate((imgl, imgr), axis=1)
    # 定义imgl上的点
    pointl=[607,425]
    srcPoint = np.array([[pointl]], dtype=np.float32)
    # 进行坐标变换
    dstPoint = cv2.perspectiveTransform(srcPoint, homography)[0][0]
    print(dstPoint)
    cv2.line(image_con, pointl, [int(dstPoint[0]+imgr.shape[1]),int(dstPoint[1])], (0, 0, 255), thickness=1)

    cv2.imshow("aaaaaaaa",image_con)


    align = cv2.warpPerspective(imgl, homography, imgr.shape[:2][::-1])
    cv2.imshow("imgl",imgl)
    cv2.imshow("imgr",imgr)
    cv2.imshow("align",align)

    cv2.imwrite("testimg.jpg",align)
    cv2.imwrite("imgr.jpg",imgr)
    cv2.imwrite("imgl.jpg",imgl)

    print(align.shape)
    cv2.waitKey(0)

美人鱼配准

github：GitHub - uncbiag/mermaid: Image registration using pytorch

doc：mermaid: iMagE Registration via autoMAtIc Differentiation — mermaid 0.1 documentation

思路：

使用美人鱼进行迭代配准，得到转换矩阵，计算对应坐标

效果：

可以看到红色栅格线，已经进行了流变换，保证了左右视图物体对应。对于这种背景单一，只有一个物体的效果还是不错的。但是这种对左右视图要求比较高，左右视图对应物体最好不要超过一个网格的距离。

代码：

需要先参考doc配置好环境，然后再jupyter运行，迭代到 relF 为0 就差不多了

'''

pip install -U numpy==1.22.4

'''



import time
import cv2
import numpy as np
import matplotlib.pyplot as plt
import mermaid.module_parameters as pars
import mermaid.example_generation as EG

time.sleep(10)
def show_warped_with_grid(I, phi, title):
    plt.imshow(I[0,0,:,:] ,cmap='gray')
    plt.contour(phi[0, 0, :, :],
            np.linspace(-1, 1, 20),
            colors='r',
            linestyles='solid',
            linewidths=0.5)
    plt.contour(phi[0, 1, :, :],
            np.linspace(-1, 1, 20),
            colors='r',
            linestyles='solid',
            linewidths=0.5)
def show_image(I, title):
    plt.imshow(I[0,0,:,:], cmap='gray')
    plt.axis('off')
    plt.title(title)

#创建大小黑格
params = pars.ParameterDict()
use_synthetic_test_case = True
add_noise_to_bg = True
dim = 2
sz = 64
szEx = np.tile(sz, dim)
I0_syn, I1_syn, spacing_syn = EG.CreateSquares(dim, add_noise_to_bg).create_image_pair(szEx, params)
print("I0_syn",I0_syn.dtype,I0_syn)
print("I1_syn",I1_syn.dtype,I1_syn)
print("spacing_syn",spacing_syn.dtype ,spacing_syn)

print('Size I0:', I0_syn.shape)
print('Size I1:', I1_syn.shape)
plt.figure(figsize=(10,4))
plt.subplot(121)
plt.imshow(I0_syn[0,0,:,:],cmap='gray')
plt.title('Source')
plt.axis('off');
plt.subplot(122)
plt.imshow(I1_syn[0,0,:,:],cmap='gray')
plt.title('Target')
plt.axis('off');

img=cv2.imread("/home/hxzh/PycharmProjects/StereoVision/im1E.png",0)
targetimg=cv2.imread("/home/hxzh/PycharmProjects/StereoVision/im1L.png",0)

img=cv2.resize(img,(640,640))/255.
targetimg=cv2.resize(targetimg,(640,640))/255.

print(img.shape)
print(targetimg.shape)

I0_syn = img.reshape([1, 1] + list(img.shape)).astype(np.float32)
I1_syn = (targetimg.reshape([1, 1] + list(targetimg.shape))).astype(np.float32)
spacing_syn=spacing = 1. / (np.array(I0_syn.shape)[2::] - 1)   
        

print("I0_syn",I0_syn.dtype,I0_syn)
print("I1_syn",I1_syn.dtype,I1_syn)
print("spacing_syn",spacing_syn.dtype ,spacing_syn)

print('Size I0:', I0_syn.shape)
print('Size I1:', I1_syn.shape)
plt.figure(figsize=(10,4))
plt.subplot(121)
plt.imshow(I0_syn[0,0,:,:],cmap='gray')
plt.title('Source')
plt.axis('off');
plt.subplot(122)
plt.imshow(I1_syn[0,0,:,:],cmap='gray')
plt.title('Target')
plt.axis('off');

import time

#LDDDM (shooting, scalar momentum)
import torch
import mermaid.utils as utils
import mermaid.visualize_registration_results as vizreg
from __future__ import print_function
import numpy as np
import matplotlib.pyplot as plt

import mermaid.simple_interface as SI


import cv2



si = SI.RegisterImagePair()
si.print_available_models()

I_0 = torch.from_numpy(I0_syn)
I_1 = torch.from_numpy(I1_syn)
phi = si.get_map()
# I_W = utils.compute_warped_image_multiNC(I_0,
#                                          phi,
#                                          spacing_syn,
#                                          spline_order=1)
# vizreg.show_current_images(len(si.get_history()['energy']),
#                            I_0,
#                            I_1,
#                            I_W,
#                            phiWarped=phi)



si.register_images(I0_syn, I1_syn, spacing_syn, model_name='lddmm_shooting_scalar_momentum_image',
                   nr_of_iterations=100,
                   use_multi_scale=True,
                   visualize_step=True,
                   optimizer_name='sgd',
                   learning_rate=0.5,
                   rel_ftol=1e-7,
                   json_config_out_filename=('test2d_tst.json', 'test2d_tst_with_comments.json'),
                   params='./mermaid_demos/2d_example_synth/lddmm_setting.json',
#                    params="test/json/test_lddmm_shooting_scalar_momentum_image_multi_scale_config.json",
                   recording_step=1)

参考：

给几个双目相机标定的参考文章：

双目摄像头Matlab参数定标_matlab双目相机标定参数-CSDN博客

YOLO v5与双目测距结合，实现目标的识别和定位测距_yolo双目测距-CSDN博客