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Add subpixel-precision image translation registration function to fea…
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""" | ||
===================================== | ||
Cross-Correlation (Phase Correlation) | ||
===================================== | ||
In this example, we use phase correlation to identify the relative shift | ||
between two similar-sized images. | ||
The ``register_translation`` function uses cross-correlation in Fourier space, | ||
optionally employing an upsampled matrix-multiplication DFT to achieve | ||
arbitrary subpixel precision. [1]_ | ||
.. [1] Manuel Guizar-Sicairos, Samuel T. Thurman, and James R. Fienup, | ||
"Efficient subpixel image registration algorithms," Optics Letters 33, | ||
156-158 (2008). | ||
""" | ||
import numpy as np | ||
import matplotlib.pyplot as plt | ||
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from skimage import data | ||
from skimage.feature import register_translation | ||
from skimage.feature.register_translation import _upsampled_dft, fourier_shift | ||
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image = data.camera() | ||
shift = (-2.4, 1.32) | ||
# (-2.4, 1.32) pixel offset relative to reference coin | ||
offset_image = fourier_shift(image, shift) | ||
print("Known offset (y, x):") | ||
print(shift) | ||
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# pixel precision first | ||
shift, error, diffphase = register_translation(image, offset_image) | ||
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fig, (ax1, ax2, ax3) = plt.subplots(ncols=3, figsize=(8, 3)) | ||
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ax1.imshow(image) | ||
ax1.set_axis_off() | ||
ax1.set_title('Reference image') | ||
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ax2.imshow(offset_image.real) | ||
ax2.set_axis_off() | ||
ax2.set_title('Offset image') | ||
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# View the output of a cross-correlation to show what the algorithm is | ||
# doing behind the scenes | ||
image_product = np.fft.fft2(image) * np.fft.fft2(offset_image).conj() | ||
cc_image = np.fft.fftshift(np.fft.ifft2(image_product)) | ||
ax3.imshow(cc_image.real) | ||
ax3.set_axis_off() | ||
ax3.set_title("Cross-correlation") | ||
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plt.show() | ||
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print("Detected pixel offset (y, x):") | ||
print(shift) | ||
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# subpixel precision | ||
shift, error, diffphase = register_translation(image, offset_image, 100) | ||
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fig, (ax1, ax2, ax3) = plt.subplots(ncols=3, figsize=(8, 3)) | ||
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ax1.imshow(image) | ||
ax1.set_axis_off() | ||
ax1.set_title('Reference image') | ||
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ax2.imshow(offset_image.real) | ||
ax2.set_axis_off() | ||
ax2.set_title('Offset image') | ||
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# Calculate the upsampled DFT, again to show what the algorithm is doing | ||
# behind the scenes. Constants correspond to calculated values in routine. | ||
# See source code for details. | ||
cc_image = _upsampled_dft(image_product, 150, 100, (shift*100)+75).conj() | ||
ax3.imshow(cc_image.real) | ||
ax3.set_axis_off() | ||
ax3.set_title("Supersampled XC sub-area") | ||
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plt.show() | ||
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print("Detected subpixel offset (y, x):") | ||
print(shift) |
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# -*- coding: utf-8 -*- """ | ||
""" | ||
Port of Manuel Guizar's code from: | ||
http://www.mathworks.com/matlabcentral/fileexchange/18401-efficient-subpixel-image-registration-by-cross-correlation | ||
""" | ||
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import numpy as np | ||
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def _upsampled_dft(data, upsampled_region_size=None, | ||
upsample_factor=1, axis_offsets=None): | ||
""" | ||
Upsampled DFT by matrix multiplication. | ||
This code is intended to provide the same result as if the following | ||
operations were performed: | ||
- Embed the array "data" in an array that is ``upsample_factor`` times | ||
larger in each dimension. ifftshift to bring the center of the | ||
image to (1,1). | ||
- Take the FFT of the larger array. | ||
- Extract an ``[upsampled_region_size]`` region of the result, starting | ||
with the ``[axis_offsets+1]`` element. | ||
It achieves this result by computing the DFT in the output array without | ||
the need to zeropad. Much faster and memory efficient than the zero-padded | ||
FFT approach if ``upsampled_region_size`` is much smaller than | ||
``data.size * upsample_factor``. | ||
Parameters | ||
---------- | ||
data : 2D ndarray | ||
The input data array (DFT of original data) to upsample. | ||
upsampled_region_size : integer or tuple of integers, optional | ||
The size of the region to be sampled. If one integer is provided, it | ||
is duplicated up to the dimensionality of ``data``. If None, this is | ||
equal to ``data.shape``. | ||
upsample_factor : integer, optional | ||
The upsampling factor. Defaults to 1. | ||
axis_offsets : tuple of integers, optional | ||
The offsets of the region to be sampled. Defaults to None (uses | ||
image center) | ||
Returns | ||
------- | ||
output : 2D ndarray | ||
The upsampled DFT of the specified region. | ||
""" | ||
if upsampled_region_size is None: | ||
upsampled_region_size = data.shape | ||
# if people pass in an integer, expand it to a list of equal-sized sections | ||
elif not hasattr(upsampled_region_size, "__iter__"): | ||
upsampled_region_size = [upsampled_region_size, ] * data.ndim | ||
else: | ||
if len(upsampled_region_size) != data.ndim: | ||
raise ValueError("shape of upsampled region sizes must be equal " | ||
"to input data's number of dimensions.") | ||
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if axis_offsets is None: | ||
axis_offsets = [0, ] * data.ndim | ||
elif not hasattr(axis_offsets, "__iter__"): | ||
axis_offsets = [axis_offsets, ] * data.ndim | ||
else: | ||
if len(axis_offsets) != data.ndim: | ||
raise ValueError("number of axis offsets must be equal to input " | ||
"data's number of dimensions.") | ||
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col_kernel = np.exp( | ||
(-1j * 2 * np.pi / (data.shape[1] * upsample_factor)) * | ||
(np.fft.ifftshift(np.arange(data.shape[1]))[:, None] - | ||
np.floor(data.shape[1] / 2)).dot( | ||
np.arange(upsampled_region_size[1])[None, :] - axis_offsets[1]) | ||
) | ||
row_kernel = np.exp( | ||
(-1j * 2 * np.pi / (data.shape[0] * upsample_factor)) * | ||
(np.arange(upsampled_region_size[0])[:, None] - axis_offsets[0]).dot( | ||
np.fft.ifftshift(np.arange(data.shape[0]))[None, :] - | ||
np.floor(data.shape[0] / 2)) | ||
) | ||
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return row_kernel.dot(data).dot(col_kernel) | ||
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def _compute_phasediff(cross_correlation_max): | ||
""" | ||
Compute global phase difference between the two images (should be | ||
zero if images are non-negative). | ||
Parameters | ||
---------- | ||
cross_correlation_max : complex | ||
The complex value of the cross correlation at its maximum point. | ||
""" | ||
return np.arctan2(cross_correlation_max.imag, cross_correlation_max.real) | ||
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def _compute_error(cross_correlation_max, src_amp, target_amp): | ||
""" | ||
Compute RMS error metric between ``src_image`` and ``target_image``. | ||
Parameters | ||
---------- | ||
cross_correlation_max : complex | ||
The complex value of the cross correlation at its maximum point. | ||
src_amp : float | ||
The normalized average image intensity of the source image | ||
target_amp : float | ||
The normalized average image intensity of the target image | ||
""" | ||
error = 1.0 - cross_correlation_max * cross_correlation_max.conj() /\ | ||
(src_amp * target_amp) | ||
return np.sqrt(np.abs(error)) | ||
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def register_translation(src_image, target_image, upsample_factor=1, | ||
space="real"): | ||
""" | ||
Efficient subpixel image translation registration by cross-correlation. | ||
This code gives the same precision as the FFT upsampled cross-correlation | ||
in a fraction of the computation time and with reduced memory requirements. | ||
It obtains an initial estimate of the cross-correlation peak by an FFT and | ||
then refines the shift estimation by upsampling the DFT only in a small | ||
neighborhood of that estimate by means of a matrix-multiply DFT. | ||
Parameters | ||
---------- | ||
src_image : ndarray | ||
Reference image. | ||
target_image : ndarray | ||
Image to register. Must be same dimensionality as ``src_image``. | ||
upsample_factor : int, optional | ||
Upsampling factor. Images will be registered to within | ||
``1 / upsample_factor`` of a pixel. For example | ||
``upsample_factor == 20`` means the images will be registered | ||
within 1/20th of a pixel. Default is 1 (no upsampling) | ||
space : string, one of "real" or "fourier" | ||
Defines how the algorithm interprets input data. "real" means data | ||
will be FFT'd to compute the correlation, while "fourier" data will | ||
bypass FFT of input data. Case insensitive. | ||
Returns | ||
------- | ||
shifts : ndarray | ||
Shift vector (in pixels) required to register ``target_image`` with | ||
``src_image``. Axis ordering is consistent with numpy (e.g. Z, Y, X) | ||
error : float | ||
Translation invariant normalized RMS error between ``src_image`` and | ||
``target_image``. | ||
phasediff : float | ||
Global phase difference between the two images (should be | ||
zero if images are non-negative). | ||
References | ||
---------- | ||
.. [1] Manuel Guizar-Sicairos, Samuel T. Thurman, and James R. Fienup, | ||
"Efficient subpixel image registration algorithms," | ||
Optics Letters 33, 156-158 (2008). | ||
""" | ||
# images must be the same shape | ||
if src_image.shape != target_image.shape: | ||
raise ValueError("Error: images must be same size for " | ||
"register_translation") | ||
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# only 2D data makes sense right now | ||
if src_image.ndim != 2 and upsample_factor > 1: | ||
raise NotImplementedError("Error: register_translation only supports " | ||
"subpixel registration for 2D images") | ||
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# assume complex data is already in Fourier space | ||
if space.lower() == 'fourier': | ||
src_freq = src_image | ||
target_freq = target_image | ||
# real data needs to be fft'd. | ||
elif space.lower() == 'real': | ||
src_image = np.array(src_image, dtype=np.complex128, copy=False) | ||
target_image = np.array(target_image, dtype=np.complex128, copy=False) | ||
src_freq = np.fft.fftn(src_image) | ||
target_freq = np.fft.fftn(target_image) | ||
else: | ||
raise ValueError("Error: register_translation only knows the \"real\" " | ||
"and \"fourier\" values for the ``space`` argument.") | ||
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# Whole-pixel shift - Compute cross-correlation by an IFFT | ||
shape = src_freq.shape | ||
image_product = src_freq * target_freq.conj() | ||
cross_correlation = np.fft.fftshift(np.fft.ifftn(image_product)) | ||
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# Locate maximum | ||
maxima = np.unravel_index(np.argmax(cross_correlation), | ||
cross_correlation.shape) | ||
midpoints = np.array([np.fix(axis_size / 2) for axis_size in shape]) | ||
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shifts = np.array(maxima, dtype=np.float64) | ||
shifts -= midpoints | ||
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if upsample_factor == 1: | ||
src_amp = np.sum(np.abs(src_freq) ** 2) / src_freq.size | ||
target_amp = np.sum(np.abs(target_freq) ** 2) / target_freq.size | ||
CCmax = cross_correlation.max() | ||
# If upsampling > 1, then refine estimate with matrix multiply DFT | ||
else: | ||
# Initial shift estimate in upsampled grid | ||
shifts = np.round(shifts * upsample_factor) / upsample_factor | ||
upsampled_region_size = np.ceil(upsample_factor * 1.5) | ||
# Center of output array at dftshift + 1 | ||
dftshift = np.fix(upsampled_region_size / 2.0) | ||
midpoint_product = np.product(midpoints) | ||
normalization = (midpoint_product * upsample_factor ** 2) | ||
# Matrix multiply DFT around the current shift estimate | ||
sample_region_offset = shifts*upsample_factor + dftshift | ||
cross_correlation = _upsampled_dft(image_product, | ||
upsampled_region_size, | ||
upsample_factor, | ||
sample_region_offset).conj() | ||
cross_correlation /= normalization | ||
# Locate maximum and map back to original pixel grid | ||
maxima = np.array(np.unravel_index(np.argmax(cross_correlation), | ||
cross_correlation.shape), | ||
dtype=np.float64) | ||
maxima -= dftshift | ||
shifts = shifts - maxima / upsample_factor | ||
CCmax = cross_correlation.max() | ||
src_amp = _upsampled_dft(src_freq * src_freq.conj(), | ||
1, upsample_factor)[0, 0] | ||
src_amp /= normalization | ||
target_amp = _upsampled_dft(target_freq * target_freq.conj(), | ||
1, | ||
upsample_factor)[0, 0] | ||
target_amp /= normalization | ||
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# If its only one row or column the shift along that dimension has no | ||
# effect. We set to zero. | ||
for dim in range(src_freq.ndim): | ||
if midpoints[dim] == 1: | ||
shifts[dim] = 0 | ||
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return shifts, _compute_error(CCmax, src_amp, target_amp),\ | ||
_compute_phasediff(CCmax) | ||
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# TODO: this is here for the sake of testing the registration functions. It is | ||
# more accurate than scipy.ndimage.shift, which uses spline interpolation | ||
# to achieve the same purpose. However, in its current state, this | ||
# function is far more limited than scipy.ndimage.shift. Improvements | ||
# include choices on how to handle boundary wrap-around, and expansion to | ||
# n-dimensions. With those improvements, this function perhaps belongs | ||
# elsewhere in this package. | ||
def fourier_shift(image, shift): | ||
""" | ||
Shift a real-space 2D image by shift by applying shift to phase in Fourier | ||
space. | ||
Parameters | ||
---------- | ||
image : ndarray | ||
Real-space 2D image to be shifted. | ||
shift : length 2 array-like of floats | ||
Shift to be applied to image. Order is row-major (y, x). | ||
Returns | ||
------- | ||
out : ndarray | ||
Shifted image. Boundaries wrap around. | ||
""" | ||
if image.ndim > 2: | ||
raise NotImplementedError("Error: fourier_shift only supports " | ||
" 2D images") | ||
rows = np.fft.ifftshift(np.arange(-np.floor(image.shape[0] / 2), | ||
np.ceil(image.shape[0] / 2))) | ||
cols = np.fft.ifftshift(np.arange(-np.floor(image.shape[1] / 2), | ||
np.ceil(image.shape[1] / 2))) | ||
cols, rows = np.meshgrid(cols, rows) | ||
out = np.fft.ifft2(np.fft.fft2(image) * np.exp(1j * 2 * np.pi * | ||
(shift[0] * rows / image.shape[0] + | ||
shift[1] * cols / image.shape[1]))) | ||
return out |
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