Reconstructing 3D point cloud from two stereo images

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Hi everyone!
I've two stereo images taken from Aquifi camera, and I want to compute the disparity and reconstruct the 3D point cloud.
I'd like to help me how to start with this. These are the object, the image taken from the master and the slave cameras.
Thanks in advance.

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Takuji Fukumoto
Takuji Fukumoto el 30 de En. de 2017
This shows the workfrow to reconstruct point cloud from stereo vision
You can get disparityMap with the folloing function.
disparityMap = disparity(frameLeftGray, frameRightGray);
  8 comentarios
Jason Hathaway
Jason Hathaway el 11 de Feb. de 2017
Editada: Jason Hathaway el 11 de Feb. de 2017
Hi again! And thank you again for your answers!
As for now, I might have a much more theoretical question. I've used SSD to get disparity. I've used rectangular windows and compared them with their compatible square windows.
Figure 1. 4 x 16
Figure 2. 8 x 8
It looks like the square is much better, but is that the case in theory?
Thanks in advance.
Takuji Fukumoto
Takuji Fukumoto el 13 de Feb. de 2017
I think so. Generally, if you use small window size, you can get details but also get noise. This means if you use rectangular window the matching result which is depending on direction.

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