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1、StereoVisionThisexampleshowshowtocomputethedepthmapbetweentworectifiedstereoimages.SeetheImageRectificationExampleImageRectificationExampletolearnaboutthedetailsbehindrectification.Inthisexampleweuseblockmatching,whichisthestandardalgorithmforhigh-speedstereo
2、visioninhardwaresystems[8].Wefirstexplorebasicblockmatching,andthenapplydynamicprogrammingtoimproveaccuracy,andimagepyramidingtoimprovespeed.Stereovisionistheprocessofrecoveringdepthfromcameraimagesbycomparingtwoormoreviewsofthesamescene.Simple,binocularstere
3、ousesonlytwoimages,typicallytakenwithparallelcamerasthatwereseparatedbyahorizontaldistanceknownasthe"baseline."Theoutputofthestereocomputationisadisparitymap(whichistranslatabletoarangeimage)whichtellshowfareachpointinthephysicalscenewasfromthecamera.Step1.Re
4、adStereoImagePairHerewereadinthecolorstereoimagepairandconverttheimagestograyscaleforthematchingprocess.Usingcolorimagesmayprovidesomeimprovementinaccuracy,butitismoreefficienttoworkwithonlyone-channelimages.ForthisweusetheImageDataTypeConverterandtheColorSpa
5、ceConverterSystemobjects.Belowweshowtheleftcameraimageandacolorcompositeofbothimagessothatonecaneasilyseethedisparitybetweenthem.hIdtc=vision.ImageDataTypeConverter;hCsc=vision.ColorSpaceConverter('Conversion','RGBtointensity');leftI3chan=step(hIdtc,imread('v
6、ipstereo_hallwayLeft.png'));leftI=step(hCsc,leftI3chan);rightI3chan=step(hIdtc,imread('vipstereo_hallwayRight.png'));rightI=step(hCsc,rightI3chan);figure(1),clf;clf;用来清除图形的命令。一般在画图之前用。imshow(rightI3chan),title('Rightimage');figure(2),clf;imshowpair(rightI,lef
7、tI,'ColorChannels','red-cyan'),axisimage;title('Colorcomposite(right=red,left=cyan)');Step2.BasicBlockMatchingNextweperformbasicblockmatching.Foreverypixelintherightimage,weextractthe7-by-7-pixelblockarounditandsearchalongthesamerowintheleftimagefortheblockth
8、atbestmatchesit.Herewesearchinarangeofpixelsaroundthepixel'slocationinthefirstimage,andweusethesumofabsolutedifferences(SAD)tocomparetheimageregions.Weneedonlysearchovercolumnsandnotoverr
