从单个移动摄像机拍摄的两幅图像中获取视差图

Question

我用一个移动的相机拍了两张照片。我试着从同一条极线上取它们。

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然后在Matlab中计算视差。

I1 = imread('4.jpg');  %right image
I2 = imread('3.jpg');  %left image

figure
imshow(stereoAnaglyph(I1,I2));
title('Red-cyan composite view of the stereo images');

disparityRange = [-6 26];
disparityMap = disparity(rgb2gray(I1),rgb2gray(I2),'DisparityRange',disparityRange);

figure 
imshow(disparityMap,disparityRange);
title('Disparity Map');
colormap(gca,jet) 
colorbar

我的输出由许多噪声组成。当我尝试计算筑波左右图像时，它显示了一个完美而平滑的视差图。为什么会发生这种情况？我错过了什么重要的步骤吗？视差范围会影响吗？

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Answer 1

如果您能发布已实现的disparity函数，将会有所帮助。我建议传递一个正数的视差值e.g. 59，你可以尝试以下方法：

function disparity_map = disparity(I1, I2, disp_value)

shiftedWin = 5 %any odd number
windowSize = (shiftedWin-1)/2;

lImage = im2double(I1)
rImage = im2double(I2)
disp2 = uint8(imread(I1));

[lRow , lCol] = size(lImage);
DispImg = zeros(lRow,lCol);

for i = windowSize+1 :1: lRow-windowSize
    for j = windowSize+1 :1:  lCol-windowSize-disp_value

        previousScore = 9999;
        bestDisparity = 0;

        lReg = lImage(i-windowSize:i+windowSize,j-windowSize:j+windowSize);

        for cDisparity = 1:disp_value

                rReg = rImage(i-windowSize:i+windowSize,j+cDisparity-windowSize:j+windowSize+cDisparity); %% correlated shifted window

                %%SAD method%%
                tempScore = abs(rReg - lReg);
                curScore = sum(tempScore(:));        
                %lineSums = [lineSums, corrScore];

            if (previousScore > curScore)                
                previousScore = curScore;
                bestDisparity = cDisparity;
            end
        end

        DispImg(i,j) = bestDisparity;

    end
end

ilumImg = DispImg *4;
imagesc(ilumImg)
colorbar

diffImg = imabsdiff(uint8(ilumImg),disp2);
figure
imshow(diffImg,[])