%A?script?that?processes?rectified?stereo?image?pair?to?generate?disparity?map
%using?dynamic?programming
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Cox?Ingemar?J.?Sunita?L.?Hingorani?Satish?B.?Rao?and?Bruce?M.?Maggs.?
%“A?maximum?likelihood?stereo?algorithm.“?Computer?vision?and?image?understanding?63?
%no.?3?（1996）:?542-567.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
clc;
clearvars;
%?close?all;
I_1?=?imread（‘_left.png‘）;?%Read?Left?Image
I_2?=?imread（‘_right.png‘）;?%Read?Right?Image?with?same?size?as?the?Left
[nRow?nColnChannel]?=?size（I_1）;
if（nChannel==3）
????I_1?=?rgb2gray（I_1）;
????I_2?=?rgb2gray（I_2）;
end
I_1?=?im2double（I_1）;
I_2?=?im2double（I_2）;

figure;imshow（I_1）;
figure;imshow（I_2）;

C?=?zeros（nCol?nCol）;
M?=?ones（size（C））;
displeft?=?zeros（nRow?nCol）;
dispright?=?zeros（nRow?nCol）;
occ?=?0.0009;?%Occlusion?cost
for?row?=?1:nRow
%?????row?%To?display?which?row?of?the?image?is?being?processed
????for?i=2:nCol
????????C（i1）?=?i*occ;
????end
????for?j?=?2:nCol
???????C（1j）?=?j*occ;?
????end
????for?i?=?2:nCol
????????for?j?=?2:nCol
???????????temp?=?（I_1（rowi）-I_2（rowj））^2;

????????????min1?=?C（i-1j-1）+temp;
????????????min2?=?C（i-1j）+occ;
????????????min3?=?C（ij-1）+occ;
????????????cmin?=?min（[min1min2min3]）;
????????????C（ij）?=?cmin;?%?Cost?Matrix
????????????if（cmin==min1）
????????????????M（ij）?=?1;?%Path?Tracker
????????????elseif（cmin==min2）
????????????????M（ij）?=?2;
????????????elseif（cmin==min3）
????????????????M（ij）?=?3;
????????????end
????????end
????end

????i?=?nCol;
????j?=?nCol;
????while（i~=1?&&?j~=1）

???????switch?M（ij）
???????????case?1
???????????????displeft（rowi）?=?abs（i-j）;?%?Disparity?Image?in?Left?Image?coordinates
???????????????dispright（rowj）?=?abs（j-i）;?%?Disparity?Image?in?Right?Image?coordinates
???????????????j?=?j-1;
???????????????i?=?i-1;
???????????case?2
???????????????displeft（rowi）?=?NaN;
???????????????i?=?i-1;
???????????case?3
???????????????dispright（rowj）?=?NaN;
???????????????j?=?j-1;
???????end
????end
????clear?C?M
end
figure;imshow（displeft[0255]）;
figure;imshow（dispright[0255]）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2171??2020-04-08?21:40??Dynamic_Programming_Stereo_Matching-master\Dynamic_programming_stereo_matching.m
?????文件?????????404??2017-10-03?17:28??Dynamic_Programming_Stereo_Matching-master\README.md
?????文件??????358802??2017-10-03?17:28??Dynamic_Programming_Stereo_Matching-master\_left.png
?????文件??????358496??2017-10-03?17:28??Dynamic_Programming_Stereo_Matching-master\_right.png
?????文件???????18431??2018-11-09?22:03??Dynamic_Programming_Stereo_Matching-master\left.jpg
?????文件???????18366??2018-11-09?22:03??Dynamic_Programming_Stereo_Matching-master\right.jpg
?????目錄???????????0??2020-04-08?21:40??Dynamic_Programming_Stereo_Matching-master\