matlab获取视差图,Matlab生成视差图

【实例简介】

双目视觉，根据块匹配方法的视差图生成。依据Matlab生成视差图。

Dbasic= zeros(size(leftI),'single')

disparity range 15;

Selects (2*halfBlocksize+1)-by-(2*halfBlocksize+1) block

halfblocksize =3

blocksize 2*halfblocksize+1

Allocate space for all template matchers

tats cell(blocksize)

g Scan over all rows

for m=1: size(leftI, 1)

Set min/max row bounds for image block

inr=max(l, m-halfBlocksize);

maxr min(size(leftI, 1), mthalfBlocksize)i

‰ Scan over a11 columns

for n=1: size(leftI, 2

minc =max(1, n-halfBlocksize);

maxc min(size(leftI, 2),nthalfBlocksize)

Compute disparity bounds

mind max( -disparityRange, 1-minc i

maxd min( disparityRange, size(leftI, 2)-maxc

9 Construct template and region of interest

template rightI(minr: maxr, minc: maxc);

templateCenter floor((size(template)+1)/2)

roi = [minr+template Center(1)-2

mincttemplateCenter(2)+mind-2

1 maxd-mind+1]

Lookup proper TemplateMatcher object, create if empty

if isempty( tmatssize(template, 1),size(template, 2)1)

tmatsisize(template, 1),size(template, 2)1

video. TemplateMatcher( ROIInputPort', true);

thisTemplateMatcher tmatsfsize(template, 1),size(template, 2));

Run TemplateMatcher object

loc step( thisTemplateMatcher, leftI, template, roi);

basic(m)

m,n)=1oc(2)-roi(2)

nd

end

end

In the results bclow, the basic block matching docs well, as the correct shape of thc stcrco

scene is recovered. However, there are noisy patches and bad depth estimates everywhere,

especially on the ceiling. These are caused when no strong image features appear inside of

the 7-by-7-pixel windows being compared. Then the matching process is subject to noise

since each pixel chooses its disparity independently of all the other pixels

For display purposes, we saturate the depth map to have only positive values. In general

slight angular misalignment of the stereo cameras used for image acquisition can allow both

positive and negative disparities to appear validly in the depth map In this case, however, the

stereo cameras were near perfectly parallel, so the true disparities have only one sign. Thus

this correction is valid

figure(3), clf;

imshow(Dbasic, []), axis image, colormap( jet), colorbar

caxis(lo disparity d);

title( ' depth map from basic block matching)

Depth map from basic black matching

10

Step 3. Sub-pixel estimation

The disparity estimates returned by block matching are all integer-valued so the above depth

map exhibits contouring effects where there