matlab利用双目图像视差进行三维重建

法一：

%%% 清理空间clc;clear;close all;%%% 导入立体标定参数load stereoParams.mat% 立体参数的可视化figure;showExtrinsics(stereoParams);%% % 导入数据frameLeft = imread('pattern_cam1_im1.png');frameRight = imread('pattern_cam2_im1.png');[frameLeftRect, frameRightRect] = ...rectifyStereoImages(frameLeft, frameRight, stereoParams);figure;imshow(stereoAnaglyph(frameLeftRect, frameRightRect));title('Rectified Frames');%%% 视差计算frameLeftGray = rgb2gray(frameLeftRect);frameRightGray = rgb2gray(frameRightRect);disparityMap = disparity(frameLeftGray, frameRightGray);figure;imshow(disparityMap, [0, 64]);title('Disparity Map');colormap jetcolorbar%%% 三维重建points3D = reconstructScene(disparityMap, stereoParams);% Convert to meters and create a pointCloud objectpoints3D = points3D ./ 1000;ptCloud = pointCloud(points3D, 'Color', frameLeftRect);% Create a streaming point cloud viewerplayer3D = pcplayer([-3, 3], [-3, 3], [0, 8], 'VerticalAxis', 'y', ...'VerticalAxisDir', 'down');% Visualize the point cloudview(player3D, ptCloud);

法二：

close all;if(~exist('stereoParams_8_15'))load('C:\Users\1\Desktop\双目视觉\stereoParams_8_15.mat');endimg1=imread('left.png');img2=imread('right.png');img1 = imresize(img1,[489,734]);img2 = imresize(img2,[489,734]);figure,imshow(img1);[J1,J2]=rectifyStereoImages(img1,img2,stereoParams_8_15,'OutputView','valid');disparityRange = [0 256];disparityMap = imread('shicha.png');disparityMap = imresize(disparityMap,[489, 734],'nearest'); % [489 734] [479 720]disparityMap = disparityMap(10:488,14:733);disparityMap = single(disparityMap);figure imshow(disparityMap,[0,100]),colormap('jet'),colorbar; % ,'InitialMagnification',50% return world coordinate from disparity mappoints3D = reconstructScene(disparityMap, stereoParams_8_15);% Convert to meters and create a pointCloud objectpoints3D = points3D ./ 10;ptCloud = pointCloud(points3D, 'Color', J1);% Create a streaming point cloud viewerplayer3D = pcplayer([-40 40],[-40 40],[0 150]);%, 'VerticalAxis', 'y','VerticalAxisDir', 'down'% object=disparityMap(470,336,:);% objectcoord=points3D(470,336,:);% object1=disparityMap(477,604,:);% objectcoord1=points3D(477,604,:);% object2=disparityMap(615,308,:);% objectcoord2=points3D(615,308,:);% object3=disparityMap(624,609,:);% objectcoord3=points3D(624,609,:);% Visualize the point cloudview(player3D, ptCloud),rotate3d on;