Problem 2 (45pt, MATLAB) Now we have a new stereo image pair (nco.pmg mc1 .png)

Question

Problem 2 (45pt, MATLAB) Now we have a new stereo image pair (nco.pmg mc1 .png) which are available in Moodle. The intrinsic parameters of the images are given as follows 3979.911 0 1244.772 K0 3979.911 1019.507 3979.9110 1369.115 0 3979.911 1019.507 where Ko and K, are the intrinsic parameters of mco Please note that the focal length is in pixel dimension. The baseline is also given as 0.193 m The image pair is high resolution, so the comiputation and m]emory requirem ent for dense stereo matching is huge. To avoid that issue, let's load the images with 1 of their original resolution. (Hint: use "reduce option in iread function.). Once you load the images, set up the parameters for dense stereo matching accordingly so that you can obtain the results as shown below. You don't need to report exactly the same results, but the disparity and depth range of your results should be close to the results below. .png and mc1 .png, respectively (a) (15pt) Display the disparity image as follows. Machine Vision Toolbax for MATLAB histozoom grey

Explanation / Answer

% reduce to 1/4 th size

A1 = imresize(A, .25)

B1 = imresize(B, .25)

% Depth can be find out from the disparity map

% should convert to gray scale before prcoessing

% plotting the disparity-depth image

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