SSD.rar_ssd_ssd视差_匹配视差图_视差_视差图

function [output_img] = nccdispr(leftimg,rightimg) [nrleft,ncleft,nleft] = size(leftimg); [nrright,ncright,nright] =size(rightimg); if (nleft > 2) leftimg = rgb2gray(leftimg); end if (nright > 2) rightimg = rgb2gray(rightimg); rightimg = rightimg+10; end d = 70; winsize = 11; disparitymap = zeros(nrleft,ncleft); leftimg = double(leftimg); rightimg = double(rightimg); leftimg = supplyborder(leftimg,winsize); rightimg = supplyborder(rightimg,winsize); win = (winsize-1)/2; for i = 1+win:nrleft+win for j = 1+win:ncleft+win min = -999999; for k = 0:d numerator = 0.0; powerrightwin = 0.0; powerleftwin = 0.0; for a = -win:win for b = -win:win if j+b+k <= ncleft+2*win numerator = numerator+(rightimg(i+a,j+b)*leftimg(i+a,j+b+k)); powerrightwin = powerrightwin+(rightimg(i+a,j+b)*rightimg(i+a,j+b)); powerleftwin = powerleftwin+(leftimg(i+a,j+b+k)*leftimg(i+a,j+b+k)); end end end ncctemp = numerator/(sqrt(powerrightwin*powerleftwin)); if (min < ncctemp && j+b+k <= ncleft+2*win) min = ncctemp; recordk = k; end end disparitymap(i-win,j-win) = recordk; end end disparitymap = uint8(3*disparitymap); output_img = disparitymap; % imshow(disparitymap); % imwrite(disparitymap,strcat('C:\Users\samsung-\Desktop\output\nccdisp5.png')); end