%?clc
clear
close?all;
tic
I00=?imread（‘im0.png‘）;
I10=?imread（‘im1.png‘）;
D0=?imread（‘Sword1_perfect_d.png‘）;
%?B?=?imresize（Ammethod）;%A放大m倍method:‘nearest‘（默認值）最近鄰插值‘bilinear‘雙線性插值‘bicubic‘雙三次插值
I0=imresize（I001/4‘bilinear‘）;
[mn]=size（D0）;
x=1:m;
y=1:n;
u=repmat（ym1）;
v=repmat（x‘1n）;
cam0=[6872.874?0?1329.49;?0?6872.874?954.485;?0?0?1];
cam1=[6872.874?0?1623.46;?0?6872.874?954.485;?0?0?1];
doffs=293.97/4;
Tx=174.724;
fx=cam0（11）/4;
fy=cam0（22）/4;
Ox=cam0（13）/4;
Oy=cam0（23）/4;
D=double（D0）;
Z=fx*Tx./（D+doffs）;
%?Z=f*Tx./（D+doffs）/255*1001;
%?X=（u-Ox）.*Tx./（D+doffs）;
%?Y=（v-Oy）.*Tx./（D+doffs）;
X=（u-Ox）.*Z/fx;
Y=（v-Oy）.*Z/fy;
Recon_3D（::3）=Z;
Recon_3D（::1）=X;
Recon_3D（::2）=Y;
figure;
pcshow（Recon_3D）;
title（‘測試圖‘）;xlabel（‘X‘）;ylabel（‘Y‘）;zlabel（‘Z‘）;

%貼紋理顯示
%?J?=?flipud（imresize（I0size（Z）））;
figure;
pcshow（Recon_3DI0）;
title（‘測試圖‘）;xlabel（‘X‘）;ylabel（‘Y‘）;zlabel（‘Z‘）;
toc

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????219??2016-09-26?09:27??3D_reconstruction\1.txt

?????文件????????213??2016-09-19?15:24??3D_reconstruction\calib.txt

?????文件??????38451??2016-09-21?10:09??3D_reconstruction\depth.jpg

?????文件????6949962??2016-09-26?09:32??3D_reconstruction\im0.png

?????文件????5262955??2016-09-26?10:04??3D_reconstruction\im02.png

?????文件????7435246??2016-09-26?09:32??3D_reconstruction\im1.png

?????文件????5280860??2016-09-26?10:04??3D_reconstruction\im12.png

?????文件????????985??2016-09-26?10:31??3D_reconstruction\Sword1_p.m

?????文件??????28561??2016-09-26?09:13??3D_reconstruction\Sword1_perfect_d.png

?????文件??????28302??2016-09-26?09:13??3D_reconstruction\Sword2_perfect_d.png

?????目錄??????????0??2016-11-14?21:26??3D_reconstruction

-----------?---------??----------?-----??----

?????????????25025754????????????????????11