www.gusucode.com > vision 源码程序 matlab案例代码 > vision/ReconstructA3DSceneExample.m
%% Reconstruct 3-D Scene from Disparity Map %% % Load the stereo parameters. load('webcamsSceneReconstruction.mat'); %% % Read in the stereo pair of images. I1 = imread('sceneReconstructionLeft.jpg'); I2 = imread('sceneReconstructionRight.jpg'); %% % Rectify the images. [J1, J2] = rectifyStereoImages(I1,I2,stereoParams); %% % Display the images after rectification. figure imshow(cat(3,J1(:,:,1),J2(:,:,2:3)),'InitialMagnification',50); %% % Compute the disparity. disparityMap = disparity(rgb2gray(J1), rgb2gray(J2)); figure imshow(disparityMap,[0,64],'InitialMagnification',50); %% % Reconstruct the 3-D world coordinates of points corresponding to each pixel from the disparity map. xyzPoints = reconstructScene(disparityMap,stereoParams); %% % Segment out a person located between 3.2 and 3.7 meters away from the camera. Z = xyzPoints(:,:,3); mask = repmat(Z > 3200 & Z < 3700,[1,1,3]); J1(~mask) = 0; imshow(J1,'InitialMagnification',50);