clear all
clc
left=double(rgb2gray(imread('left.jpg')));
right=double(rgb2gray(imread('right.jpg')));
[m n]=size(left);
w=9; %窗口半径
depth=20; %最大偏移距离，同样也是最大深度距离
imgn=zeros(m,n);
for i=1+w:m-w
for j=1+w+depth:n-w
tmp=[];
lwin=left(i-w:i+w,j-w:j+w);
for k=0:-1:-depth
rwin=right(i-w:i+w,j-w+k:j+w+k);
diff=lwin-rwin;
tmp=[tmp sum(abs(diff(:)))];
end
[junk imgn(i,j)]=min(tmp); %获得最小位置的索引
end
end
imshow(imgn,[]);
%计算右图减去左图，相减产生D个矩阵放到imgDiff中
imgDiff=zeros(H,W,D);
e=zeros(H,W);
for i=1:D
e(:,1:(W-i))=abs(im2(:,1:(W-i))- im1(:,(i+1):W));
e2=zeros(H,W);%计算窗口内的和
for y=(N+1):(H-N)
for x=(N+1):(W-N)
e2(y,x)=sum(sum(e((y-N):(y+N),(x-N):(x+N))));
end
end
imgDiff(:,:,i)=e2;
end
%找到最小的视差，到dispMap
dispMap=zeros(H,W);
for x=1:W
for y=1:H
[val,id]=sort(imgDiff(y,x,:));
if abs(val(1)-val(2))>10
dispMap(y,x)=id(1);
end
end
end
%显示
imshow(dispMap,[]);
