双目视觉三维重建代码 matlab

以下是基于MATLAB的双目视觉三维重建代码：

1. 读取图像

I1 = imread('left.png');
I2 = imread('right.png');

2. 预处理图像

I1 = rgb2gray(I1);
I2 = rgb2gray(I2);

3. 提取特征点

points1 = detectSURFFeatures(I1);
points2 = detectSURFFeatures(I2);

[features1, valid_points1] = extractFeatures(I1, points1);
[features2, valid_points2] = extractFeatures(I2, points2);

4. 匹配特征点

indexPairs = matchFeatures(features1, features2);

matchedPoints1 = valid_points1(indexPairs(:, 1));
matchedPoints2 = valid_points2(indexPairs(:, 2));

5. 计算基础矩阵

[F, inliers] = estimateFundamentalMatrix(matchedPoints1, matchedPoints2);

6. 计算相机参数

cameraParams1 = estimateCameraParameters(matchedPoints1, worldPoints);
cameraParams2 = estimateCameraParameters(matchedPoints2, worldPoints);

stereoParams = stereoParameters(cameraParams1, cameraParams2, F);

7. 三维重建

points3D = triangulate(matchedPoints1, matchedPoints2, stereoParams);

8. 可视化

pcshow(points3D);

以上是基于MATLAB的双目视觉三维重建代码。请注意，此代码只是一个示例代码，实际应用中可能需要进行更多的优化和调整。