这篇论文对立体匹配算法做了非常大的改进,与传统的立体匹配算法不同,这个算法对每个窗口中的像素点,根据与需要匹配的像素点的距离和灰度值加以权值,使匹配更精确。
创新:原创代码,通过自己编程实现深刻理解立体匹配算法,也对立体匹配算放中的一些问题有深刻的体会。
困难:进入计算机视觉的第一篇论文实现,从完全没有概念到最后得到满意的结果
leftI = imread('left.ppm');
rightI = imread('right.ppm');
maxDisp = 15;
factor = 16;
A = makecform('srgb2lab');
leftLab = applycform(leftI, A);
rightLab = applycform(rightI, A);
leftLab = double(leftLab);
rightLab = double(rightLab);
leftL = leftLab(:,:,1);
rightL = rightLab(:,:,1);
lefta = leftLab(:,:,2);
righta = rightLab(:,:,2);
leftb = leftLab(:,:,3);
rightb = leftLab(:,:,3);
[nrLeft,ncLeft] = size(leftL);
dispMap = zeros(nrLeft,ncLeft);
leftI = double(leftI);
rightI = double(rightI);
leftR = leftI(:,:,1);
leftG = leftI(:,:,2);
leftB = leftI(:,:,3);
rightR = rightI(:,:,1);
rightG = rightI(:,:,2);
rightB = rightI(:,:,3);
WindowSize = 35;
win =(WindowSize - 1)/2;
gammac = 13;
gammap = 31;
weight1 = zeros(WindowSize, WindowSize);
weight2 = zeros(WindowSize, WindowSize);
td = zeros(maxDisp+1, 1);
for i = (1+win):(nrLeft-win)
for j = (1+win+maxDisp):(ncLeft-win)
Llij = leftL(i,j);
Laij = lefta(i,j);
Lbij = leftb(i,j);
for k = (i-win):(i+win)
for l = (j-win):(j+win)
deltaGpq = sqrt((k-i)^2+(l-j)^2);
dl = leftL(k,l)-Llij;
da = lefta(k,l)-Laij;
db = leftb(k,l)-Lbij;
deltaCpq = sqrt(dl^2+da^2+db^2);
weight1 = exp(-(deltaCpq/gammac+deltaGpq/gammap));
end
end
for d = 0:maxDisp
sum1 = 0;
sum2 = 0;
Rlijd = rightL(i,j-d);
Raijd = righta(i,j-d);
Rbijd = rightb(i,j-d);
for k = (i-win):(i+win)
for l = (j-win):(j+win)
deltaGpq2 = sqrt((k-i)^2+(l-j)^2);
deltaCpq2 = sqrt((rightL(k,l-d)-Rlijd)^2+(righta(k,l-d)-Raijd)^2+(rightb(k,l-d)-Rbijd)^2);
weight2 = exp(-(deltaCpq2/gammac+deltaGpq2/gammap));
e = min((abs(leftR(k,l)-rightR(k,l-d))+abs(leftG(k,l)-rightG(k,l-d))+abs(leftB(k,l)-rightB(k,l-d))), 40);
sum1 = sum1 + weight1*weight2*e;
sum2 = sum2 + weight1*weight2;
end
end
td(d+1) = sum1/sum2;
end
[minV,minIdx] = min(td);
dispMap(i,j) = minIdx-1;
end
i
end
dispMap = dispMap*factor;
imshow(dispMap,[])