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LSM.m
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run('/Users/c_c/Documents/MATLAB/correlation_coefficient_match.m');
halfwindow=9;
image_l=im2double(image_left);
image_r=im2double(image_right);
x1=y_orgin;
y1=x_orgin;
x2=y_target;
y2=x_target;
%初值
h0=0;h1=1;
a0=x1-x2;a1=1;a2=0;
b0=y1-y2;b1=0;b2=1;
% a0=0;a1=1;a2=0;
% b0=0;b1=0;b2=1;
for i=1:2*halfwindow+1
for j=1:2*halfwindow+1
moban1(i,j)=bilinc(image_r,x2-halfwindow+i-1,y2-halfwindow+j-1);
end
end
moban=zeros(halfwindow*2+3,halfwindow*2+3);
x=zeros(halfwindow*2+3,halfwindow*2+3);
y=zeros(halfwindow*2+3,halfwindow*2+3);
for i=1:halfwindow*2+3
for j=1:halfwindow*2+3
%下面的if语句用来防止超出图像边界而报错
if(a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2)>1 && a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2)<size(image_l,1)-1 && b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2)>1 && b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2)<size(image_l,2)-1)
moban(i,j)=h0+h1*bilinc(image_l,a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2),b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2));
end
x(i,:)=x2-halfwindow-1;
y(:,j)=y2-halfwindow-1;
end
end
moban2=moban(2:size(moban,1)-1,2:size(moban,2)-1);
x=x(2:size(moban,1)-1,2:size(moban,2)-1);
y=y(2:size(moban,1)-1,2:size(moban,2)-1);
%%
%列误差方程式
C(:,1)=linspace(1,1,(2*halfwindow+1)^2)';
C(:,2)=reshape(moban2',(2*halfwindow+1)^2,1)';
chafenx=zeros(2*halfwindow+1,2*halfwindow+1); %行方向差分
chafeny=zeros(2*halfwindow+1,2*halfwindow+1); %列方向差分
for i=1:2*halfwindow+1
chafenx(i,:)=(moban(i+2,2:2*halfwindow+2)-moban(i,2:2*halfwindow+2))./2;
chafeny(:,i)=(moban(2:2*halfwindow+2,i+2)-moban(2:2*halfwindow+2,i))./2;
end
C(:,3)=reshape(chafenx',(2*halfwindow+1)^2,1)';
C(:,4)=reshape((x.*chafenx)',(2*halfwindow+1)^2,1)';
C(:,5)=reshape((y.*chafenx)',(2*halfwindow+1)^2,1)';
C(:,6)=reshape(chafeny',(2*halfwindow+1)^2,1)';
C(:,7)=reshape((x.*chafeny)',(2*halfwindow+1)^2,1)';
C(:,8)=reshape((y.*chafeny)',(2*halfwindow+1)^2,1)';
L=reshape((moban1-moban2)',(2*halfwindow+1)^2,1);
% X=(C'*C)\(C'*L);
%% 截断奇异值法解决病态
[U,S,VVV]=svd(C'*C);
for ii=1:size(S,1)
if(S(1,1)/S(ii,ii)>10^8)
break;
end
end
VVVt=VVV(:,1:ii-1);
Ut=U(:,1:ii-1);
S=S(1:ii-1,1:ii-1);
X=VVVt*inv(S)*Ut'*(C'*L);
r_old=corr2(moban1,moban2);
%%
%下面进行迭代计算
canshu=zeros(6,6); %迭代6次，计算6个相关系数，取最大的
r=zeros(1,6);
Iteration=1;
while(1)
canshu(Iteration,:)=[a0 a1 a2 b0 b1 b2];
r(1,Iteration)=r_old;
%参数改正
a0=a0+X(3,1)+a0*X(4,1)+b0*X(5,1);
a1=a1+a1*X(4,1)+b1*X(5,1);
a2=a2+a2*X(4,1)+b2*X(5,1);
b0=b0+X(6,1)+a0*X(7,1)+b0*X(8,1);
b1=b1+a1*X(7,1)+b1*X(8,1);
b2=b2+a2*X(7,1)+b2*X(8,1);
h0=h0+X(1,1)+h0*X(2,1);
h1=h1+h1*X(2,1);
for i=1:2*halfwindow+1
for j=1:2*halfwindow+1
moban1(i,j)=bilinc(image_r,x2-halfwindow+i-1,y2-halfwindow+j-1);
end
end
moban=zeros(halfwindow*2+3,halfwindow*2+3);
x=zeros(halfwindow*2+3,halfwindow*2+3);
y=zeros(halfwindow*2+3,halfwindow*2+3);
for i=1:halfwindow*2+3
for j=1:halfwindow*2+3
%下面的if语句用来防止超出图像边界而报错
if(a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2)>1 && a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2)<size(image_l,1)-1 && b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2)>1 && b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2)<size(image_l,2)-1)
moban(i,j)=h0+h1*bilinc(image_l,a0+a1*(x2-halfwindow+i-2)+a2*(y2-halfwindow+j-2),b0+b1*(x2-halfwindow+i-2)+b2*(y2-halfwindow+j-2));
end
x(i,:)=x2-halfwindow-1;
y(:,j)=y2-halfwindow-1;
end
end
moban2=moban(2:size(moban,1)-1,2:size(moban,2)-1);
x=x(2:size(moban,1)-1,2:size(moban,2)-1);
y=y(2:size(moban,1)-1,2:size(moban,2)-1);
%列误差方程式
C(:,1)=linspace(1,1,(2*halfwindow+1)^2)';
C(:,2)=reshape(moban2',(2*halfwindow+1)^2,1)';
chafenx=zeros(2*halfwindow+1,2*halfwindow+1); %行方向差分
chafeny=zeros(2*halfwindow+1,2*halfwindow+1); %列方向差分
for i=1:2*halfwindow+1
chafenx(i,:)=(moban(i+2,2:2*halfwindow+2)-moban(i,2:2*halfwindow+2))./2;
chafeny(:,i)=(moban(2:2*halfwindow+2,i+2)-moban(2:2*halfwindow+2,i))./2;
end
C(:,3)=reshape(chafenx',(2*halfwindow+1)^2,1)';
C(:,4)=reshape((x.*chafenx)',(2*halfwindow+1)^2,1)';
C(:,5)=reshape((y.*chafenx)',(2*halfwindow+1)^2,1)';
C(:,6)=reshape(chafeny',(2*halfwindow+1)^2,1)';
C(:,7)=reshape((x.*chafeny)',(2*halfwindow+1)^2,1)';
C(:,8)=reshape((y.*chafeny)',(2*halfwindow+1)^2,1)';
L=reshape((moban1-moban2)',(2*halfwindow+1)^2,1);
% X=(C'*C)\(C'*L);
%% 截断奇异值法解决病态
[U,S,VVV]=svd(C'*C);
for ii=1:size(S,1)
if(S(1,1)/S(ii,ii)>10^8)
break;
end
end
VVVt=VVV(:,1:ii-1);
Ut=U(:,1:ii-1);
S=S(1:ii-1,1:ii-1);
X=VVVt*inv(S)*Ut'*(C'*L);
r_new=corr2(moban1,moban2);
if(r_new>r_old)
r_old=r_new;
Iteration=Iteration+1;
else
break
end
end
%% 对坐标做加权平均
xx=zeros(2*halfwindow+1,2*halfwindow+1);
yy=zeros(2*halfwindow+1,2*halfwindow+1);
for i=1:2*halfwindow+1
xx(i,1:2*halfwindow+1)=x2-(halfwindow+1-i);
yy(1:2*halfwindow+1,i)=y2-(halfwindow+1-i);
end
sumx=sum(sum(chafenx.^2));sumy=sum(sum(chafeny.^2));
xt=sum(sum(xx.*chafenx.^2/sumx));
yt=sum(sum(yy.*chafeny.^2/sumy));
[~,lie]=find(r==max(r));
% xt=x2;
% yt=y2;
XS=canshu(lie,1)+canshu(lie,2)*xt+canshu(lie,3)*yt;
YS=canshu(lie,4)+canshu(lie,5)*xt+canshu(lie,6)*yt;
if(isnan(XS) || isnan(YS) || isnan(xt) || isnan(yt))
XS=x1;YS=y1;xt=x2;yt=y2;
end
%% 改正后的相关系数
halfwindow=7;
for i=1:2*halfwindow+1
for j=1:2*halfwindow+1
if(min([XS-halfwindow+i-1 YS-halfwindow+j-1])>1 && XS-halfwindow+i-1<size(image_l,1)-1 && YS-halfwindow+j-1<size(image_l,2)-1)
moban_I1(i,j)=bilinc(image_l,XS-halfwindow+i-1,YS-halfwindow+j-1);
end
if(min([xt-halfwindow+i-1 yt-halfwindow+j-1])>1 && xt-halfwindow+i-1<size(image_r,1)-1 && yt-halfwindow+j-1<size(image_r,2)-1)
moban_I2(i,j)=bilinc(image_r,xt-halfwindow+i-1,yt-halfwindow+j-1);
end
end
end
if(isnan(XS) || isnan(YS) || isnan(xt) || isnan(yt) || size(moban_I1,1)~=size(moban_I2,1) || size(moban_I1,2)~=size(moban_I2,2))
r_new=0;
else
r_new=corr2(moban_I1,moban_I2);
end
plot(yt,xt,'g*');