解决矫正过的图片中的特征对视差图的影响

我怎么才能解决矫正过的图片中的特征对视差图的影响
比如下图中包装袋上的图案被反应进了视差图中。
程序是

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15. # created on all systems, independent on any compiler settings.
    
16. #
    
17. # Source files with different encoding should not be mixed in one project.
    
18. ##############################################################################
    
19. # Procedures
    
20. # Chapter: Develop
    
21. # Short Description: Switch dev_update_pc, dev_update_var and dev_update_window to 'off'.
    
22.   dev_update_off ()
    
23.   * This procedure sets different update settings to 'off'.
    
24.   * This is useful to get the best performance and reduce overhead.
    
25.   *
    
26.   dev_update_pc ('off')
    
27.   dev_update_var ('off')
    
28.   dev_update_window ('off')
    
29.   return ()
    
30. 
    
31. # Main procedure
    
32.   * Example program to demonstrate the operator binocular_disparity
    
33.   *
    
34.   * A pair of epipolar images (which are already rectified and have parallel,
    
35.   * horizontal epipolar lines) will be processed.
    
36.   * --------------------------------------------------------
    
37. #*for image_index:= 1 to 3 by 1
    
38.    
    
39.   dev_update_off ()
    
40.   dev_close_window ()
    
41.        Width :=640
    
42.   Height := 512
    
43.   dev_open_window (0, 0, Width / 2, Height / 2, 'black', WindowHandle1)
    
44.   dev_open_window (0, Width / 2 + 12, Width / 2, Height / 2, 'black', WindowHandle2)
    
45.   dev_open_window (Height / 2 + 62, 0, Width / 2, Height / 2, 'black', WindowHandle3)
    
46.   * The images to be read:
    
47.   Path := 'stereo/epipolar/'
    
48.   *
    
49.   * read_image (LImage, Path + 'baseball_l')
    
50.   * read_image (LImage, 'D:/stereo_data/stereo_data/data2/colorleft1.png')
    
51.   read_image (LImage, '路径')
    
52.   dev_set_window (WindowHandle1)
    
53.   dev_display (LImage)
    
54.   * read_image (RImage, Path + 'baseball_r')
    
55.   * read_image (RImage, 'D:/stereo_data/stereo_data/data2/colorright1.png')
    
56.   read_image (RImage, '路径')
    
57.   *read_image (GImage, '路径')
    
58.   dev_set_window (WindowHandle2)
    
59.   dev_display (RImage)
    
60.   count_seconds (Start)
    
61.   z := 3
    
62.   
    
63.   DefaultParameters := ['fast','fast_accurate','accurate','very_accurate']
    
64.    *binocular_disparity (LImage, RImage, DisparityNCC, Score, 'ncc', 5,5, 0, 64, 164, 2, -0.5, 'none', 'interpolation')
    
65.   SurfaceSmoothing := [0,10,20,30,40,50,0,0,0,0,0,30]
    
66.   EdgeSmoothing := [0,0,0,0,0,0,10,20,30,40,50,20]
    
67.   
    
68.   final_sum_dis := 1000
    
69.   final_bad_1 := 1000
    
70.   final_bad_2 := 1000
    
71.   for I1 := 10 to |SurfaceSmoothing| - 1 by 1
    
72.    *for I2 := 3 to 21 by 2
    
73.        for I := -170 to -125 by 1
    
74.       binocular_disparity_ms (LImage, RImage, DisparityNCC, Score, I, I+140, SurfaceSmoothing[I1], EdgeSmoothing[I1],  'similarity_measure','census_sparse')
    
75.          
    
76.        *binocular_disparity (LImage, RImage, DisparityNCC, Score, 'ncc',  I2, I2,30,I ,I+100, 2, 0.8, 'left_right_check','interpolation')
    
77.    *get_domain (DisparityNCC, RegionInpainting)
    
78.      *complement (RegionInpainting, RegionInpainting)
    
79.      *full_domain (DisparityNCC, DisparityNCC)
    
80.      
    
81.     * harmonic_interpolation (DisparityNCC, RegionInpainting, DisparityNCC, 0.001)
    
82.        count_seconds (Stop)
    
83.           Duration := (Stop - Start) * 1000
    
84.   *     write_image (DisparityNCC, 'png', 0, 'D:/stereo_data/stereo_data/ncc_result/cones_1.png')
    
85.    
    
86.    
    
87.       DisparityNCC := DisparityNCC
    
88.       dev_set_window (WindowHandle3)
    
89.       dev_display (DisparityNCC)
    
90.       disp_message (WindowHandle3,I1 , 'window', 12, 12, 'black', 'true')
    
91.       disp_message (WindowHandle3,I, 'window', 24, 24, 'black', 'true')
    
92.       *dev_display (Score)
    
93.   endfor
    
94.   endfor
    
95.   * write_image (DisparityNCC, 'png', 0, 'D:/stereo_data/stereo_data/ncc_result/cones.png')
    

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双目视觉中做视差，两相机偏差不能太大，而且角度也不能太大，同时标定和二维标定的一致，标定板用7×7的即可，两相机重合区域要达到70%左右，标定时候要两个相机同时记录同一个标定板的位置和姿态，大概做30张附近就差不多了，这样出来的视差就比较合适准确了！

要提醒的就是，标定环节是最重要的，因为稍微不慎就会导致结果偏差很大，而且可能出现各种噪点！

双视觉做视差，学习到了