%-----------------------------------------------------------------
%?function?[dsp?pixel_dsp?segs?labels]?=?total_stereo...
%??????????（i1i2?hshrMmins?maxs?segs?labels）
%
%?A?first?take?at?3D?from?stereo.??This?function?takes?a?stereo?pair
%?（that?should?already?be?registered?so?the?only?difference?is?in?the
%?‘x‘?dimension）?and?produces?a?‘disparity?map.‘??The?output?here?is
%?pixel?disparity?which?can?be?converted?to?actual?distance?from?the
%?cameras?if?information?about?the?camera?geometry?is?known.
%?
%?The?output?here?does?show?which?objects?are?closer?and?‘segments‘
%?by?distance?to?camera.
%
%?EXAMPLE:
%?i1?=?imread（‘tsuL.jpg‘）;
%?i2?=?imread（‘tsuR.jpg‘）;
%?[d?p?s?l]?=?total_stereo（i1i210730120）;
%
%?dsp???????=?final?disparity?map
%?pixel_dsp?=?pixel?disparities?before?final?filtering
%?segs??????=?segmented?image?from?msseg
%?labels????=?labemap?from?msseg
%
%?i1?????=?right?image
%?i2?????=?left?image
%?hs?????=?spacial?bandwidth?（for?msseg）??????（usually?10）
%?hr?????=?range（color）?bandwidth?（for?msseg）?（usually?7）
%?M??????=?minimum?segment?size?（for?msseg）???（usually?30）
%?mins???=?minimum?shift??????????????????????（usually?1）
%?maxs???=?maximum?shift??????????????????????（depends?on?images）
%?segs???=?segments?（if?you?have?them?pre-computed）
%?labels?=?labelmap?（if?you?have?it?pre-computed）
%
%?Algorithm?adapted?from:?“Segment-based?Stereo?Matching?Using?
%?Belief?Propogation?and?Self-Adapting?Dissimilarity?Measure“?by
%?Klaus?Sormann?and?Karner.
%?
%?（The?algorithm?in?the?paper?is?better?and?more?complete.??The
%?codes?here?are?inspired?by?these?guys?and?parts?are?original）
%
%?Coded?by?Shawn?Lankton?（http://www.shawnlankton.com）?Dec.?2007
%-----------------------------------------------------------------


function?[dsp?pixel_dsp?segs?labels]?=?total_stereo...
?????????（i1i2?hshrMmins?maxs?segs?labels）
??
??win_size?=?5;??%--?larger?for?less?textured?surfaces
??tolerance?=?0;?%--?larger?for?less?textured?surfaces
??
??[dimy?dimx?c]?=?size（i1）;
??[xx?yy]?=?meshgrid（1:size（i12）1:size（i11））;
??
??dsp??=?ones（size（i11）size（i12））;
??
??%--segment?reference?image
??if（nargin<9）
????[segs?labels]?=?msseg（i1hshrM）;??%--?mean?shift?segmentation
??end
??
??%--determine?pixel?correspondence?Right-to-Left
??[disparity1?mindiff1]?=?slide_images（i1i2?mins?maxs?win_size）;

??%--determine?pixel?correspondence?Left-to-Right
??[disparity2?mindiff2]?=?slide_images（i2i1?-mins?-maxs?win_size）;
??disparity2?=?abs（disparity2）;?%--?disprities?will?be?negative

??%--create?high-confidence?disparity?map
??pixel_dsp?=?winner_take_all（disparity1?mindiff1?disparity2?mindiff2）;

??%--filter?with?segmented?image
??for（i?=?0:length（unique（labels））-1）
????lab_idx?=?find（（labels?==?i））;
????inf_idx?=?find（labels?==?i?&?pixel_dsp????dsp（lab_idx）?=?median（pixel_dsp（inf_idx））;
??end
??
??%--I?think?this?looks?cleaner?but?it?doesn‘t?really?serve?a?purpose
??pixel_dsp（pixel_dsp==inf）=NaN;

??
%%-----?HELPER?FUNC

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

?????文件????3304030??2010-05-19?10:23??lankton_stereo\msseg\Mean?Shift?A?Robust?Approach?Toward?Feature?Space?Analysis.pdf

?????文件???????1195??2007-12-20?11:48??lankton_stereo\msseg\msfilt.m

?????文件???????1468??2007-12-20?11:48??lankton_stereo\msseg\msseg.m

?????文件??????21504??2010-05-27?20:41??lankton_stereo\msseg\readme?整理.doc

?????文件???????1550??2010-05-27?20:32??lankton_stereo\msseg\readme.txt

?????文件????????798??2007-12-20?11:48??lankton_stereo\msseg\RGB2Luv.m

????..A.SH.??????9728??2010-03-17?17:07??lankton_stereo\Thumbs.db

?????文件???????6004??2007-12-20?11:48??lankton_stereo\total_stereo.m

?????文件?????174571??2007-12-20?11:48??lankton_stereo\tsuL.png

?????文件?????175014??2007-12-20?11:48??lankton_stereo\tsuR.png

?????文件?????418169??2010-05-31?16:43??lankton_stereo\untitled.fig

?????文件??????70457??2010-05-31?16:48??lankton_stereo\untitled.jpg

?????文件?????466877??2010-03-17?17:07??Segment-based?Stereo?Matching?Using?Belief?Propogation?and?a?Self-Adapting?Dissimilarity?Measure.pdf

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

??????????????1347335??分割檔?2?????????????12