SAD立体匹配算法在opencv中的实现

FROM：http://blog.csdn.net/tulun/article/details/6456188

SAD算法具体原理见相关图像处理书籍。

该程序是opencv中文论坛的牛人贡献的，感谢他的工作。

 

（程序所需图片可以在网上找如http://vision.middlebury.edu/stereo/data/scenes2003/）

[c-sharp] view plain copy print ?

1. // Sum of Absolute Difference(SAD)   
2.  
3. #include <iostream>  
4. #include <stdio.h>  
5. #include <stdlib.h>  
6. #include <cv.h>  
7. #include <cxcore.h>  
8. #include <highgui.h>  
9. #include <math.h>  
10. #include <ctime>  
11.   
12. using namespace std;  
13.   
14. template<class T> class Image  
15. {  
16. private:  
17.     IplImage* imgp;  
18.   
19. public:  
20.     Image(IplImage* img=0){imgp=img;}  
21.     ~Image(){imgp=0;}  
22.     void operator=(IplImage* img){imgp=img;}  
23.     inline T* operator[](const int rowIndx)  
24.     {  
25.         return((T*)(imgp->imageData+rowIndx*imgp->widthStep));  
26.     }  
27. };  
28.   
29. typedef struct  
30. {  
31.     unsigned char b,g,r;  
32. }RgbPixel;  
33.   
34. typedef struct  
35. {  
36.     float b,g,r;  
37. }RgbPixelFloat;  
38.   
39. typedef Image<RgbPixel> RgbImage;  
40. typedef Image<RgbPixelFloat> RgbImageFloat;  
41. typedef Image<unsigned char> BwImage;  
42. typedef Image<float> BwImageFloat;  
43.   
44. //display an image in a new window with title to be given.  
45. void displayImageNewWindow(char* title,CvArr* img)  
46. {  
47.     cvNamedWindow(title, CV_WINDOW_AUTOSIZE );  
48.     cvShowImage(title,img);  
49. }  
50.   
51. int getMaxMin(double value[],int valueSize, int maxmin)  
52. {  
53.     int pos=0;  
54.     int i=0;  
55.     double max1=-1;//?-999999;  
56.     double min1=999999;  
57.          
58.     if (maxmin==1)  
59.     {  
60.         //find max  
61.         for (i=0;i<valueSize;i++)  
62.         {  
63.             //find the index with the max value;  
64.             if (value[i]>max1)  
65.             {  
66.                 pos=i;  
67.                 max1=value[i];  
68.             }  
69.         }  
70.     }  
71.          
72.     if (maxmin==0)  
73.     {  
74.         //find min  
75.         for (i=0;i<valueSize;i++)  
76.         {  
77.             //find the index with the minimum value;  
78.             if (value[i]<min1)  
79.             {  
80.                 pos=i;  
81.                 min1=value[i];  
82.             }  
83.         }           
84.     }  
85.             
86.     return pos;  
87. }  
88.   
89. IplImage* generateDisparityImage(IplImage* greyLeftImg32,IplImage* greyRightImg32,int windowSize,int DSR)  
90. {  
91.     int offset=floor((double)windowSize/2);  
92.     int height=greyLeftImg32->height;  
93.     int width=greyLeftImg32->width;  
94.     double* localSAD=new double[DSR];  
95.   
96.     int x=0, y=0,d=0,m=0;  
97.     int N=windowSize;              
98.   
99.     IplImage* winImg=cvCreateImage(cvSize(N,N),32,1);//mySubImage(greyLeftImg32,cvRect(0,0,N,N));  
100.      
101.     IplImage* disparity=cvCreateImage(cvSize(width,height),8,1);//or IPL_DEPTH_8U  
102.     BwImage imgA(disparity);  
103.      
104.     for (y=0;y<height;y++)  
105.     {  
106.       for (x=0;x<width;x++)  
107.       {  
108.          imgA[y][x]=0;  
109.       }  
110.     }  
111.          
112.     CvScalar sum;  
113.     //CvScalar s2;  
114.     for (y=0;y<height-N;y++)  
115.     {   
116.         //height-N  
117.         for (x=0;x<width-N;x++)  
118.         {  
119.             //width-N  
120.             cvSetImageROI(greyLeftImg32, cvRect(x,y,N,N));  
121.             d=0;           
122.             //initialise localSAD  
123.             for (m=0;m<DSR;m++)  
124.             {  
125.                 localSAD[m]=0;  
126.             }  
127.        
128.             //start matching  
129.              do{  
130.                 if (x-d>=0)  
131.                 {  
132.                     cvSetImageROI(greyRightImg32, cvRect(x-d,y,N,N));  
133.                 }  
134.                 else  
135.                 {  
136.                 break;  
137.                 }  
138.   
139.                 cvAbsDiff(greyLeftImg32,greyRightImg32,winImg);//absolute difference  
140.                 sum=cvSum(winImg);//sum  
141.                 localSAD[d]=sum.val[0];//0 means single channel  
142.   
143.                 cvResetImageROI(greyRightImg32);  
144.                 d++;  
145.             }while(d<=DSR);  
146.        
147.             //to find the best d and store  
148.             imgA[y+offset][x+offset]=getMaxMin(localSAD,DSR,0)*16; //0 means return minimum index  
149.             cvResetImageROI(greyLeftImg32);  
150.         }//x  
151.         if (y%10==0)  
152.             cout<<"row="<<y<<" of "<<height<<endl;   
153.     }//y  
154.   
155.     cvReleaseImage(&winImg);  
156.     //cvReleaseImage(&rightWinImg);  
157.      
158.     return disparity;  
159. }  
160.   
161. int main (int argc, char * const argv[])   
162. {  
163.     cout << "Sum of Absolute Difference(SAD) Strereo Vision"<<endl;   
164.          
165.     //**********image input*********************//   
166.     char* filename1="L.jpg";//im2_cone.png  
167.     IplImage* greyLeftImg= cvLoadImage(filename1,0);  
168.     char* filename2="R.jpg";  
169.     IplImage* greyRightImg= cvLoadImage(filename2,0);  
170.          
171.     if (greyLeftImg==NULL){cout << "No valid image input."<<endl; return 1;}  
172.     if (greyRightImg==NULL){cout << "No valid image input."<<endl; return 1;}  
173.   
174.     int width=greyLeftImg->width;  
175.     int height=greyLeftImg->height;   
176.   
177.     /****************8U to 32F**********************/  
178.     IplImage* greyLeftImg32=cvCreateImage(cvSize(width,height),32,1);//IPL_DEPTH_32F  
179.     IplImage* greyRightImg32=cvCreateImage(cvSize(width,height),32,1);  
180.     cvConvertScale(greyLeftImg, greyLeftImg32, 1/255.);  
181.     cvConvertScale(greyRightImg, greyRightImg32, 1/255.);//1/255. equals to 1/255.0  
182.          
183.     //-------------obtain disparity image----------------  
184.     time_t tstart, tend;  
185.     tstart = time(0);  
186.     int windowSize=13,DSR=20;//Disparity Search Range  
187.     IplImage* disparity32=generateDisparityImage(greyLeftImg32,greyRightImg32,windowSize,DSR);  
188.     tend = time(0);  
189.     cout << "It took "<< difftime(tend, tstart) <<" second(s)."<< endl;  
190.   
191.     displayImageNewWindow("Dispairty Image",disparity32);  
192.     displayImageNewWindow("Left Image",greyLeftImg32);  
193.     displayImageNewWindow("Right Image",greyRightImg32);  
194.          
195.     //cvSaveImage("D:/OpenCV_stuff/SampleImages/disparitySAD.jpg",disparity32);  
196.   
197.     //********destroy window************/  
198.     cvWaitKey(0);  
199.     cvReleaseImage(&greyLeftImg32);  
200.     cvReleaseImage(&greyRightImg32);  
201.     cvReleaseImage(&greyLeftImg);  
202.     cvReleaseImage(&greyRightImg);  
203.     cvReleaseImage(&disparity32);  
204.     cvDestroyWindow("Left Image");  
205.     cvDestroyWindow("Right Image");  
206.     cvDestroyWindow("Dispairty Image");  
207.     return 0;  
208. }