Reconstructing 3D point cloud from two stereo images

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Jason Hathaway 2017-1-29

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/322433-reconstructing-3d-point-cloud-from-two-stereo-images

评论： Takuji Fukumoto 2017-2-13

采纳的回答： Takuji Fukumoto

在 MATLAB Online 中打开

Hi everyone!

I've two stereo images taken from Aquifi camera, and I want to compute the disparity and reconstruct the 3D point cloud.

I'd like to help me how to start with this. These are the object, the image taken from the master and the slave cameras.

Thanks in advance.

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Takuji Fukumoto 2017-1-30

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/322433-reconstructing-3d-point-cloud-from-two-stereo-images#answer_252528

在 MATLAB Online 中打开

This shows the workfrow to reconstruct point cloud from stereo vision

https://www.mathworks.com/help/vision/examples/depth-estimation-from-stereo-video.html

You can get disparityMap with the folloing function.

disparityMap = disparity(frameLeftGray, frameRightGray);

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Jason Hathaway 2017-2-11

编辑：Jason Hathaway 2017-2-11

Hi again! And thank you again for your answers!

As for now, I might have a much more theoretical question. I've used SSD to get disparity. I've used rectangular windows and compared them with their compatible square windows.

Figure 1. 4 x 16

Figure 2. 8 x 8

It looks like the square is much better, but is that the case in theory?

Thanks in advance.

Takuji Fukumoto 2017-2-13

I think so. Generally, if you use small window size, you can get details but also get noise. This means if you use rectangular window the matching result which is depending on direction.

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