爷爷们孙子我又来求各位了

shunzi11

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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# Procedures
# Chapter: Develop
# Short Description: Switch dev_update_pc, dev_update_var and dev_update_window to 'off'.
  dev_update_off ()
  * This procedure sets different update settings to 'off'.
  * This is useful to get the best performance and reduce overhead.
  *
  dev_update_pc ('off')
  dev_update_var ('off')
  dev_update_window ('off')
  return ()

# Main procedure
  * Example program to demonstrate the operator binocular_disparity
  *
  * A pair of epipolar images (which are already rectified and have parallel,
  * horizontal epipolar lines) will be processed.
  * --------------------------------------------------------
#*for image_index:= 1 to 3 by 1
   
  dev_update_off ()
  dev_close_window ()
       Width :=640
  Height := 512
  dev_open_window (0, 0, Width / 2, Height / 2, 'black', WindowHandle1)
  dev_open_window (0, Width / 2 + 12, Width / 2, Height / 2, 'black', WindowHandle2)
  dev_open_window (Height / 2 + 62, 0, Width / 2, Height / 2, 'black', WindowHandle3)
  * The images to be read:
  Path := 'stereo/epipolar/'
  *
  * read_image (LImage, Path + 'baseball_l')
  * read_image (LImage, 'D:/stereo_data/stereo_data/data2/colorleft1.png')
  read_image (LImage, '路径')
  dev_set_window (WindowHandle1)
  dev_display (LImage)
  * read_image (RImage, Path + 'baseball_r')
  * read_image (RImage, 'D:/stereo_data/stereo_data/data2/colorright1.png')
  read_image (RImage, '路径')
  *read_image (GImage, '路径')
  dev_set_window (WindowHandle2)
  dev_display (RImage)
  count_seconds (Start)
  z := 3
  
  DefaultParameters := ['fast','fast_accurate','accurate','very_accurate']
   *binocular_disparity (LImage, RImage, DisparityNCC, Score, 'ncc', 5,5, 0, 64, 164, 2, -0.5, 'none', 'interpolation')
  SurfaceSmoothing := [0,10,20,30,40,50,0,0,0,0,0,30]
  EdgeSmoothing := [0,0,0,0,0,0,10,20,30,40,50,20]
  
  final_sum_dis := 1000
  final_bad_1 := 1000
  final_bad_2 := 1000
  for I1 := 10 to |SurfaceSmoothing| - 1 by 1
   *for I2 := 3 to 21 by 2
       for I := -170 to -125 by 1
      binocular_disparity_ms (LImage, RImage, DisparityNCC, Score, I, I+140, SurfaceSmoothing[I1], EdgeSmoothing[I1],  'similarity_measure','census_sparse')
         
       *binocular_disparity (LImage, RImage, DisparityNCC, Score, 'ncc',  I2, I2,30,I ,I+100, 2, 0.8, 'left_right_check','interpolation')
   *get_domain (DisparityNCC, RegionInpainting)
     *complement (RegionInpainting, RegionInpainting)
     *full_domain (DisparityNCC, DisparityNCC)
     
    * harmonic_interpolation (DisparityNCC, RegionInpainting, DisparityNCC, 0.001)
       count_seconds (Stop)
          Duration := (Stop - Start) * 1000
  *     write_image (DisparityNCC, 'png', 0, 'D:/stereo_data/stereo_data/ncc_result/cones_1.png')
   
   
      DisparityNCC := DisparityNCC
      dev_set_window (WindowHandle3)
      dev_display (DisparityNCC)
      disp_message (WindowHandle3,I1 , 'window', 12, 12, 'black', 'true')
      disp_message (WindowHandle3,I, 'window', 24, 24, 'black', 'true')
      *dev_display (Score)
  endfor
  endfor
  * write_image (DisparityNCC, 'png', 0, 'D:/stereo_data/stereo_data/ncc_result/cones.png')

Criss

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！