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, reprojectionMatrix] = rectifyStereoImages(I1,I2,stereoParams);
Display the images after rectification.
figure
imshow(cat(3,J1(:,:,1),J2(:,:,2:3)),'InitialMagnification',50);
Compute the disparity.
disparityMap = disparitySGM(im2gray(J1),im2gray(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,reprojectionMatrix);
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);
