立体匹配算法

FROM：http://www.cnblogs.com/adong7639/p/4267326.html

立体匹配算法最新动态：http://vision.middlebury.edu/stereo/eval/

介绍立体匹配的基本原理: http://vision.deis.unibo.it/~smatt/Seminars/StereoVision.pdf（比较清晰）

立体匹配综述性文章 ： http://wenku.baidu.com/view/5b359d7d5acfa1c7aa00cc7b.html

OpenCv中实现了三种立体匹配算法：

BM算法

SGBM算法

GC算法 算法文献：Realistic CG Stereo Image Dataset with Ground Truth Disparity Maps

参考：http://blog.csdn.net/wqvbjhc/article/details/6260844

首先介绍：SGBM算法，作为一种全局匹配算法，立体匹配的效果明显好于局部匹配算法，但是同时复杂度上也要远远大于局部匹配算法。算法主要是参考Stereo Processing by Semiglobal Matching and Mutual Information

参考：http://www.opencv.org.cn/forum.php?mod=viewthread&tid=23854

#include <highgui.h>
#include <cv.h>
#include <cxcore.h>
#include <iostream>
using namespace std;
using namespace cv;
int main()
{

    IplImage * img1 = cvLoadImage("left.png",0);
    IplImage * img2 = cvLoadImage("right.png",0);
    cv::StereoSGBM sgbm;
    int SADWindowSize = 9;
    sgbm.preFilterCap = 63;
    sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
    int cn = img1->nChannels;
    int numberOfDisparities=64;
    sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.minDisparity = 0;
    sgbm.numberOfDisparities = numberOfDisparities;
    sgbm.uniquenessRatio = 10;
    sgbm.speckleWindowSize = 100;
    sgbm.speckleRange = 32;
    sgbm.disp12MaxDiff = 1;
    Mat disp, disp8;
    int64 t = getTickCount();
    sgbm((Mat)img1, (Mat)img2, disp);
    t = getTickCount() - t;
    cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
    disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));

    namedWindow("left", 1);
    cvShowImage("left", img1);
    namedWindow("right", 1);
    cvShowImage("right", img2);
    namedWindow("disparity", 1);
    imshow("disparity", disp8);
    waitKey();
    imwrite("sgbm_disparity.png", disp8);   
    cvDestroyAllWindows();
    return 0;
}

 

　　　　　　　　left.png 　　　　　　right.png

 　　　　　　

　　　　　　　　　　disparity.jpg

如何设置BM、SGBM和GC算法的状态参数？

参看：http://blog.csdn.net/chenyusiyuan/article/details/5967291