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intensityToDisparity.m
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intensityToDisparity.m
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function disparity = intensityToDisparity(leftImage, rightImage, windowSize, maxSearchSpace)
width = size(leftImage,2);
height = size(leftImage,1);
featureSize = (windowSize ^ 2);
progressBar = waitbar(0, 'Performing Pixel Intensity Matching...');
disparity = zeros(height - windowSize, width - windowSize);
for y = 1 : height - windowSize
leftDescriptors = zeros(featureSize, width - windowSize);
rightDescriptors = zeros(featureSize, width - windowSize);
disparityLine = zeros(1, width - windowSize);
for x = 1 : width - windowSize
leftSubImage = leftImage(y : y + windowSize - 1, x : x + windowSize - 1);
leftDescriptors(:,x) = leftSubImage(:);
rightSubImage = rightImage(y : y + windowSize - 1, x : x + windowSize - 1);
rightDescriptors(:,x) = rightSubImage(:);
end
for rightX = 1 : width - windowSize
SSDs = [];
bound = maxSearchSpace + windowSize;
for leftX = max(1, rightX) : min(rightX + bound, width - windowSize)
diff = leftDescriptors(:, leftX) - rightDescriptors(:, rightX);
diffSq = diff .^2;
SSDs = [SSDs, sum(sum(diffSq))];
end
[val, loc] = min(SSDs);
disparityLine(rightX) = loc;
end
disparity(y, :) = disparityLine;
waitbar(y / height, progressBar);
end
close(progressBar);
disparity = disparity./max(max(disparity));
end