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Copy pathHAAPCG_SS_2024_5_23_V1.m
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HAAPCG_SS_2024_5_23_V1.m
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clc; clear; warning('off'); close all;
baseFolder = 'F:\PC2-Data\UAV_GE1\Pairs_new4\SS\U2'; % 基础文件夹路径
folders = dir(fullfile(baseFolder, '*')); % 获取所有文件和文件夹
folders = folders([folders.isdir]); % 保留文件夹条目
folders = folders(~ismember({folders.name}, {'.', '..'})); % 移除'.'和'..'条目
patch_size = 128;
for i = 1:length(folders)
folderName = folders(i).name; % 当前处理的文件夹名
folderPath = fullfile(baseFolder, folderName); % 当前文件夹的完整路径
% 指定图像文件路径
str1 = fullfile(folderPath, '1360.png'); % image pair
str2 = fullfile(folderPath, 'Ref.jpg'); % image pair
if exist(str1, 'file') && exist(str2, 'file')
image1 = im2uint8(imread(str1));
image2 = im2uint8(imread(str2));
image_1 = image1(:,:,1);
image_2 = image2(:,:,1);
% 2 初始参数设置
K_weight=3; % 各向异性力矩图的加权值，处于（1~10），默认设置：3
Max=3; % Number of levels in scale space，默认设置：3
threshold = 0.3; % 特征点提取阈值，对SAR影像/强度图配色时，设置为：0.3；一般默认设置为：0.4
scale_value=2; % 尺度缩放比例值，默认设置：1.6
Path_Block=42; % 描述子邻域窗口大小， 默认设置：42；当需要更多特征点时，可以调大窗口。
%%% 3 各向异性尺度空间
[nonelinear_space_1]=HAPCG_nonelinear_space(image_1,Max,scale_value);
[nonelinear_space_2]=HAPCG_nonelinear_space(image_2,Max,scale_value);
%% 4 构建加权各向异性力矩图和相位一致性梯度及方向
[harris_function_1,gradient_1,angle_1]=HAPCG_Gradient_Feature(nonelinear_space_1,Max,K_weight);
[harris_function_2,gradient_2,angle_2]=HAPCG_Gradient_Feature(nonelinear_space_2,Max,K_weight);
% 5 特征检测,限制在5000
position_1=Harris_extreme(harris_function_1,gradient_1,angle_1,Max,threshold);
% 随机化 position_1 的行
nRows = size(position_1, 1); % 获取 position_1 的行数
randIdx = randperm(nRows); % 生成一个随机索引排列
position_1 = position_1(randIdx, :); % 重新排序 position_1
% 检查是否有足够的行并提取前5000行
if nRows >= 5000
position_1 = position_1(1:5000, :);
end
position_2=Harris_extreme(harris_function_2,gradient_2,angle_2,Max,threshold);
% 随机化 position_2 的行
nRows = size(position_2, 1); % 获取 position_2 的行数
randIdx = randperm(nRows); % 生成一个随机索引排列
position_2 = position_2(randIdx, :); % 重新排序 position_2
% 检查是否有足够的行并提取前5000行
if nRows >= 5000
position_2 = position_2(1:5000, :);
end
% 写入kpts1到文件
filenameKpts1 = fullfile(folderPath, 'HAPCG_kpts1.txt');
dlmwrite(filenameKpts1, position_1(:, 1:2), 'delimiter', ' ', 'precision', '%f');
% 写入kpts2到文件
filenameKpts2 = fullfile(folderPath, 'HAPCG_kpts2.txt');
dlmwrite(filenameKpts2, position_2(:, 1:2), 'delimiter', ' ', 'precision', '%f');
% 6 特征描述
descriptors_1=HAPCG_Logpolar_descriptors(gradient_1,angle_1,position_1,Path_Block);
descriptors_2=HAPCG_Logpolar_descriptors(gradient_2,angle_2,position_2,Path_Block);
% 将特征描述的点位置写入到文件
filenameKpts1 = fullfile(folderPath, 'HAPCG_locs1.txt');
dlmwrite(filenameKpts1, descriptors_1.locs(:, 1:4), 'delimiter', ' ', 'precision', '%f');
filenameKpts2 = fullfile(folderPath, 'HAPCG_locs2.txt');
dlmwrite(filenameKpts2, descriptors_2.locs(:,1:4), 'delimiter', ' ', 'precision', '%f');
% 将特征描述的特征向量写入到文件
filenameKpts1 = fullfile(folderPath, 'HAPCG_des1.txt');
dlmwrite(filenameKpts1, descriptors_1.des(:,1:248), 'delimiter', ' ', 'precision', '%f');
filenameKpts2 = fullfile(folderPath, 'HAPCG_des2.txt');
dlmwrite(filenameKpts2, descriptors_2.des(:,1:248), 'delimiter', ' ', 'precision', '%f');
% 特征匹配.
[indexPairs,~] = matchFeatures(descriptors_1.des,descriptors_2.des,'MaxRatio',1,'MatchThreshold', 100);
matchedPoints_1 = descriptors_1.locs(indexPairs(:, 1), :);
matchedPoints_2 = descriptors_2.locs(indexPairs(:, 2), :);
% 粗差剔除
% 使用FSC函数计算两个特征点集之间的相似性变换矩阵H。
[H,rmse]=FSC(matchedPoints_1,matchedPoints_2,'similarity',3);
Y_=H*[matchedPoints_1(:,[1,2])';ones(1,size(matchedPoints_1,1))];
Y_(1,:)=Y_(1,:)./Y_(3,:);
Y_(2,:)=Y_(2,:)./Y_(3,:);
E=sqrt(sum((Y_(1:2,:)-matchedPoints_2(:,[1,2])').^2));
inliersIndex=E < 3;
clearedPoints1 = matchedPoints_1(inliersIndex, :);
clearedPoints2 = matchedPoints_2(inliersIndex, :);
uni1=[clearedPoints1(:,[1,2]),clearedPoints2(:,[1,2])];
[~,i,~]=unique(uni1,'rows','first');
inliersPoints1=clearedPoints1(sort(i)',:);
inliersPoints2=clearedPoints2(sort(i)',:);
[inliersPoints_1,inliersPoints_2] = BackProjection(inliersPoints1,inliersPoints2,scale_value);
%% 保存匹配图像
folderPath = 'F:\PC2-Data\UAV_GE1\Pairs_new4\results\SS\HAPCG';
% 检查文件夹是否存在，如果不存在则创建
if ~exist(folderPath, 'dir')
mkdir(folderPath);
end
% 创建文件名，包括其路径
filename = fullfile(folderPath, sprintf('%s_HAPCG.png', folderName));
% 保存当前图形到指定文件
saveas(gcf, filename);
%% 保存匹配点数量
filename = fullfile(folderPath, 'HAPCG_NCM.txt');
fid = fopen(filename, 'a');
fprintf(fid, '%d,%d\n', size(clearedPoints1, 1), size(finalPoints1, 1));
fclose(fid);
close all;
else
fprintf('Files not found in %s. Skipping...\n', folderPath);
end
end