- 图像处理基本算法-立体视觉

cvWaitKey(0);
cvDestroyAllWindows();
cvReleaseImage(&leftImage);
cvReleaseImage(&rightImage);
return 0;
}

 

//ZSSD
#include
#include
#include

using namespace std;
int GetHammingWeight(unsigned int value);
int main(){
/*Half of the window size for the census transform*/
int hWin = 11;
int compareLength = (2*hWin+1)*(2*hWin+1);

cout<<"hWin: "<

cvShowImage("Census",SADImage);
cvShowImage("MatchLevel",MatchLevelImage);
cvSaveImage("depth.jpg",SADImage);
cvSaveImage("matchLevel.jpg",MatchLevelImage);

cout<

IplImage * leftImage = cvLoadImage("left.bmp",0);
IplImage * rightImage = cvLoadImage("right.bmp",0);

int imageWidth = leftImage->width;
int imageHeight =leftImage->height;

IplImage * NCCImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,1);
IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,1);

int minDBounds = 0;
int maxDBounds = 31;

cvNamedWindow("Left",1);
cvNamedWindow("Right",1);
cvNamedWindow("Census",1);
cvNamedWindow("MatchLevel",1);

cvShowImage("Left",leftImage);
cvShowImage("Right",rightImage);

/*Census Transform */
int i,j ,m,n,k;
unsigned char centerPixel = 0;
unsigned char neighborPixel = 0;
int bitCount = 0;
unsigned int bigger = 0;

unsigned int sum =0;
unsigned int leftSquareSum = 0;
unsigned int rightSquareSum = 0;

double *matchLevel = new double[maxDBounds - minDBounds + 1];
double tempMax = 0;
int tempIndex = 0;

unsigned char* dst;
unsigned char* leftSrc = NULL;
unsigned char* rightSrc = NULL;

unsigned char leftPixel = 0;
unsigned char rightPixel =0;
unsigned char subPixel = 0;
unsigned char meanLeftPixel = 0;
unsigned char meanRightPixel = 0;

for(i = 0 ; i < leftImage->height;i++){
for(j = 0; j< leftImage->width;j++){

/*均值计算 */
for (k = minDBounds;k <= maxDBounds;k++)
{
sum = 0;
leftSquareSum = 0;
rightSquareSum = 0;

for (m = i-hWin; m <= i + hWin;m++)
{
for (n = j - hWin; n <= j + hWin;n++)
{
if (m < 0 || m >= imageHeight || n <0 || n >= imageWidth )
{

leftPixel = 0;
}else {
leftSrc = (unsigned char*)leftImage->imageData
+ m*leftImage->widthStep + n + k;
leftPixel = *leftSrc;

}

if (m < 0 || m >= imageHeight || n + k <0 || n +k >= imageWidth)
{

rightPixel = 0;
}else
{
rightSrc = (unsigned char*)rightImage->imageData
+ m*rightImage->widthStep + n;
rightPixel = *rightSrc;

}

sum += leftPixel*rightPixel;
leftSquareSum += leftPixel*leftPixel;
rightSquareSum += rightPixel*rightPixel;

}
}
matchLevel[k] = (double)sum/(sqrt(double(leftSquareSum))*sqrt((double)rightSquareSum));

}

tempMax = 0;
tempIndex = 0;
for ( m = 1;m < maxDBounds - minDBounds + 1;m++)
{

if (matchLevel[m] > matchLevel[tempIndex])
{
tempMax = matchLevel[m];
tempIndex = m;
}
}
dst = (unsigned char *)NCCImage->imageData + i*NCCImage->widthStep + j;

*dst = tempIndex*8;
dst = (unsigned char *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;
*dst = (unsigned char)(tempMax*255);

}

}

cvShowImage("Census",NCCImage);
cvShowImage("MatchLevel",MatchLevelImage);
cvSaveImage("depth.jpg",NCCImage);
cvSaveImage("matchLevel.jpg",MatchLevelImage);

coutwidthStep + j;
leftPixel = *pLeftPixel;
rightPixel = *pRightPixel;

if (abs(leftPixel - rightPixel) <= max12Diff)
{
Ddynamic[j + 1][k + 1] = Ddynamic[j][k] +1;
}else if (Ddynamic[j][k+1] > Ddynamic[j+1][k])
{
Ddynamic[j + 1][k + 1] = Ddynamic[j][k+1];
}else{
Ddynamic[j+1][k+1] = Ddynamic[j+1][k];
}

//cout<0 )
{
if (Ddynamic[m][n] == Ddynamic[m-1][n])
m--;
else if (Ddynamic[m][n] == Ddynamic[m][n-1])
n--;
else
{
//s[--l]=a[i-1];
pPixel = (unsigned char *)DPImage->imageData + i*DPImage->widthStep + m;
*pPixel = (n-m)*8;
l--;
m--;
n--;
}
}

//cvWaitKey(0);

}

cvShowImage("Depth",DPImage);
cvSaveImage("depth.jpg",DPImage);
cvWaitKey(0);
return 0;
}

 

//贴一张清楚的