从视差图重建3D点云MATLAB

用MATLAB实现从视差图重建3D点云并显示出来，得到的rgb+XYZ

% clc
clear
close all;
tic
I00= imread（‘im0.png‘）;
I10= imread（‘im1.png‘）;
D0= imread（‘Sword1_perfect_d.png‘）;
% B = imresize（Ammethod）;%A放大m倍method:‘nearest‘（默认值）最近邻插值‘bilinear‘双线性插值‘bicubic‘双三次插值
I0=imresize（I001/4‘bilinear‘）;
[mn]=size（D0）;
x=1:m;
y=1:n;
u=repmat（ym1）;
v=repmat（x‘1n）;
cam0=[6872.874 0 1329.49; 0 6872.874 954.485; 0 0 1];
cam1=[6872.874 0 1623.46; 0 6872.874 954.485; 0 0 1];
doffs=293.97/4;
Tx=174.724;
fx=cam0（11）/4;
fy=cam0（22）/4;
Ox=cam0（13）/4;
Oy=cam0（23）/4;
D=double（D0）;
Z=fx*Tx./（D+doffs）;
% Z=f*Tx./（D+doffs）/255*1001;
% X=（u-Ox）.*Tx./（D+doffs）;
% Y=（v-Oy）.*Tx./（D+doffs）;
X=（u-Ox）.*Z/fx;
Y=（v-Oy）.*Z/fy;
Recon_3D（::3）=Z;
Recon_3D（::1）=X;
Recon_3D（::2）=Y;
figure;
pcshow（Recon_3D）;
title（‘测试图‘）;xlabel（‘X‘）;ylabel（‘Y‘）;zlabel（‘Z‘）;

%贴纹理显示
% J = flipud（imresize（I0size（Z）））;
figure;
pcshow（Recon_3DI0）;
title（‘测试图‘）;xlabel（‘X‘）;ylabel（‘Y‘）;zlabel（‘Z‘）;
toc

 属性            大小     日期    时间   名称
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     文件        219  2016-09-26 09:27  3D_reconstruction\1.txt

     文件        213  2016-09-19 15:24  3D_reconstruction\calib.txt

     文件      38451  2016-09-21 10:09  3D_reconstruction\depth.jpg

     文件    6949962  2016-09-26 09:32  3D_reconstruction\im0.png

     文件    5262955  2016-09-26 10:04  3D_reconstruction\im02.png

     文件    7435246  2016-09-26 09:32  3D_reconstruction\im1.png

     文件    5280860  2016-09-26 10:04  3D_reconstruction\im12.png

     文件        985  2016-09-26 10:31  3D_reconstruction\Sword1_p.m

     文件      28561  2016-09-26 09:13  3D_reconstruction\Sword1_perfect_d.png

     文件      28302  2016-09-26 09:13  3D_reconstruction\Sword2_perfect_d.png

     目录          0  2016-11-14 21:26  3D_reconstruction

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