双目立体视觉匹配算法-----SAD匹配算法、BM算法、SGBM算法、GC算法

一、 SAD算法

1.算法原理
        SAD(Sum of absolute differences)是一种图像匹配算法。基本思想：差的绝对值之和。此算法常用于图像块匹配，将每个像素对应数值之差的绝对值求和，据此评估两个图像块的相似度。该算法快速、但并不精确，通常用于多级处理的初步筛选。
2.基本流程

输入：两幅图像，一幅Left-Image，一幅Right-Image

对左图，依次扫描，选定一个锚点：

（1）构造一个小窗口,类似于卷积核；
（2）用窗口覆盖左边的图像,选择出窗口覆盖区域内的所有像素点；
（3）同样用窗口覆盖右边的图像并选择出覆盖区域的像素点；
（4）左边覆盖区域减去右边覆盖区域，并求出所有像素点灰度差的绝对值之和；
（5）移动右边图像的窗口，重复（3）-（4）的处理（这里有个搜索范围,超过这个范围跳出）；
（6）找到这个范围内SAD值最小的窗口,即找到了左图锚点的最佳匹配的像素块。

参考代码：SAD.h

[cpp] view plain copy print ?

1. #include"iostream"   
2. #include"opencv2/opencv.hpp"   
3. #include"iomanip"   
4. using namespace std;  
5. using namespace cv;  
6.   
7. class SAD  
8. {  
9.     public:  
10.         SAD():winSize(7),DSR(30){}  
11.         SAD(int _winSize,int _DSR):winSize(_winSize),DSR(_DSR){}  
12.         Mat computerSAD(Mat &L,Mat &R); //计算SAD   
13.     private:  
14.         int winSize; //卷积核的尺寸   
15.         int DSR;     //视差搜索范围   
16.       
17. };  
18.   
19.  Mat SAD::computerSAD(Mat &L,Mat &R)  
20.     {  
21.         int Height=L.rows;  
22.         int Width=L.cols;  
23.         Mat Kernel_L(Size(winSize,winSize),CV_8U,Scalar::all(0));  
24.         Mat Kernel_R(Size(winSize,winSize),CV_8U,Scalar::all(0));  
25.         Mat Disparity(Height,Width,CV_8U,Scalar(0)); //视差图   
26.   
27.         for(int i=0;i<Width-winSize;i++)  //左图从DSR开始遍历   
28.         {  
29.             for(int j=0;j<Height-winSize;j++)  
30.             {  
31.                 Kernel_L=L(Rect(i,j,winSize,winSize));  
32.                 Mat MM(1,DSR,CV_32F,Scalar(0)); //   
33.   
34.                 for(int k=0;k<DSR;k++)  
35.                 {  
36.                     int x=i-k;  
37.                     if(x>=0)  
38.                     {  
39.                     Kernel_R=R(Rect(x,j,winSize,winSize));  
40.                     Mat Dif;  
41.                     absdiff(Kernel_L, Kernel_R, Dif);//   
42.                     Scalar ADD=sum(Dif);  
43.                     float a=ADD[0];  
44.                     MM.at<float>(k)=a;  
45.                     }  
46.                       
47.                 }  
48.                 Point minLoc;  
49.                 minMaxLoc(MM, NULL, NULL,&minLoc,NULL);  
50.                   
51.                 int loc=minLoc.x;  
52.                 //int loc=DSR-loc;   
53.                 Disparity.at<char>(j,i)=loc*16;  
54.                   
55.             }  
56.             double rate=double(i)/(Width);  
57.             cout<<"已完成"<<setprecision(2)<<rate*100<<"%"<<endl; //处理进度   
58.         }  
59.         return Disparity;  
60.     }  

#include"iostream"
#include"opencv2/opencv.hpp"
#include"iomanip"
using namespace std;
using namespace cv;

class SAD
{
	public:
		SAD():winSize(7),DSR(30){}
		SAD(int _winSize,int _DSR):winSize(_winSize),DSR(_DSR){}
		Mat computerSAD(Mat &L,Mat &R); //计算SAD
	private:
		int winSize; //卷积核的尺寸
		int DSR;     //视差搜索范围
	
};

 Mat SAD::computerSAD(Mat &L,Mat &R)
	{
		int Height=L.rows;
	    int Width=L.cols;
		Mat Kernel_L(Size(winSize,winSize),CV_8U,Scalar::all(0));
	    Mat Kernel_R(Size(winSize,winSize),CV_8U,Scalar::all(0));
	    Mat Disparity(Height,Width,CV_8U,Scalar(0)); //视差图

		for(int i=0;i<Width-winSize;i++)  //左图从DSR开始遍历
		{
			for(int j=0;j<Height-winSize;j++)
			{
				Kernel_L=L(Rect(i,j,winSize,winSize));
			    Mat MM(1,DSR,CV_32F,Scalar(0)); //

				for(int k=0;k<DSR;k++)
				{
					int x=i-k;
					if(x>=0)
					{
					Kernel_R=R(Rect(x,j,winSize,winSize));
					Mat Dif;
			        absdiff(Kernel_L, Kernel_R, Dif);//
					Scalar ADD=sum(Dif);
					float a=ADD[0];
					MM.at<float>(k)=a;
					}
					
				}
				Point minLoc;
                minMaxLoc(MM, NULL, NULL,&minLoc,NULL);
			    
				int loc=minLoc.x;
				//int loc=DSR-loc;
				Disparity.at<char>(j,i)=loc*16;
				
			}
			double rate=double(i)/(Width);
			cout<<"已完成"<<setprecision(2)<<rate*100<<"%"<<endl; //处理进度
		}
		return Disparity;
	}

[cpp] view plain copy print ?

1. // MySAD.cpp : 定义控制台应用程序的入口点。   
2. //   
3. #include "stdafx.h"   
4. #include"SAD.h"   
5. int _tmain(int argc, _TCHAR* argv[])  
6. {  
7.     Mat Img_L=imread("imL.png",0);  
8.     Mat Img_R=imread("imR.png",0);  
9.     Mat Disparity;    //视差图   
10.       
11.     //SAD mySAD;   
12.     SAD mySAD(7,30);  
13.     Disparity=mySAD.computerSAD(Img_L,Img_R);  
14.   
15.     imshow("Img_L",Img_L);  
16.     imshow("Img_R",Img_R);  
17.     imshow("Disparity",Disparity);  
18.     waitKey();  
19.     return 0;  
20. }  

// MySAD.cpp : 定义控制台应用程序的入口点。
//
#include "stdafx.h"
#include"SAD.h"
int _tmain(int argc, _TCHAR* argv[])
{
	Mat Img_L=imread("imL.png",0);
	Mat Img_R=imread("imR.png",0);
    Mat Disparity;    //视差图
    
	//SAD mySAD;
	SAD mySAD(7,30);
	Disparity=mySAD.computerSAD(Img_L,Img_R);

	imshow("Img_L",Img_L);
	imshow("Img_R",Img_R);
	imshow("Disparity",Disparity);
	waitKey();
	return 0;
}

[cpp] view plain copy print ?

1.   

二、BM算法：速度很快，效果一般

SGBM算法 Stereo Processing by Semiglobal Matching and Mutual Information

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

[cpp] view plain copy print?

1. void BM()  
2. {  
3. 　　IplImage * img1 = cvLoadImage("left.png",0);  
4.     IplImage * img2 = cvLoadImage("right.png",0);  
5.     CvStereoBMState* BMState=cvCreateStereoBMState();  
6.     assert(BMState);  
7.     BMState->preFilterSize=9;  
8.     BMState->preFilterCap=31;  
9.     BMState->SADWindowSize=15;  
10.     BMState->minDisparity=0;  
11.     BMState->numberOfDisparities=64;  
12.     BMState->textureThreshold=10;  
13.     BMState->uniquenessRatio=15;  
14.     BMState->speckleWindowSize=100;  
15.     BMState->speckleRange=32;  
16.     BMState->disp12MaxDiff=1;  
17.   
18.     CvMat* disp=cvCreateMat(img1->height,img1->width,CV_16S);  
19.     CvMat* vdisp=cvCreateMat(img1->height,img1->width,CV_8U);  
20.     int64 t=getTickCount();  
21.     cvFindStereoCorrespondenceBM(img1,img2,disp,BMState);  
22.     t=getTickCount()-t;  
23.     cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;  
24.     cvSave("disp.xml",disp);  
25.     cvNormalize(disp,vdisp,0,255,CV_MINMAX);  
26.     cvNamedWindow("BM_disparity",0);  
27.     cvShowImage("BM_disparity",vdisp);  
28.     cvWaitKey(0);  
29.     //cvSaveImage("cones\\BM_disparity.png",vdisp);   
30.     cvReleaseMat(&disp);  
31.     cvReleaseMat(&vdisp);  
32.     cvDestroyWindow("BM_disparity");  
33. }  

void BM()
{
　　IplImage * img1 = cvLoadImage("left.png",0);
    IplImage * img2 = cvLoadImage("right.png",0);
    CvStereoBMState* BMState=cvCreateStereoBMState();
    assert(BMState);
    BMState->preFilterSize=9;
    BMState->preFilterCap=31;
    BMState->SADWindowSize=15;
    BMState->minDisparity=0;
    BMState->numberOfDisparities=64;
    BMState->textureThreshold=10;
    BMState->uniquenessRatio=15;
    BMState->speckleWindowSize=100;
    BMState->speckleRange=32;
    BMState->disp12MaxDiff=1;

    CvMat* disp=cvCreateMat(img1->height,img1->width,CV_16S);
    CvMat* vdisp=cvCreateMat(img1->height,img1->width,CV_8U);
    int64 t=getTickCount();
    cvFindStereoCorrespondenceBM(img1,img2,disp,BMState);
    t=getTickCount()-t;
    cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
    cvSave("disp.xml",disp);
    cvNormalize(disp,vdisp,0,255,CV_MINMAX);
    cvNamedWindow("BM_disparity",0);
    cvShowImage("BM_disparity",vdisp);
    cvWaitKey(0);
    //cvSaveImage("cones\\BM_disparity.png",vdisp);
    cvReleaseMat(&disp);
    cvReleaseMat(&vdisp);
    cvDestroyWindow("BM_disparity");
}

三、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。

opencv中实现的SGBM算法计算匹配代价没有按照原始论文的互信息作为代价，而是按照块匹配的代价。

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

[cpp] view plain copy print ?

1. #include <highgui.h>   
2. #include <cv.h>   
3. #include <cxcore.h>   
4. #include <iostream>   
5. using namespace std;  
6. using namespace cv;  
7. int main()  
8. {  
9.   
10.     IplImage * img1 = cvLoadImage("left.png",0);  
11.     IplImage * img2 = cvLoadImage("right.png",0);  
12.     cv::StereoSGBM sgbm;  
13.     int SADWindowSize = 9;  
14.     sgbm.preFilterCap = 63;  
15.     sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;  
16.     int cn = img1->nChannels;  
17.     int numberOfDisparities=64;  
18.     sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;  
19.     sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;  
20.     sgbm.minDisparity = 0;  
21.     sgbm.numberOfDisparities = numberOfDisparities;  
22.     sgbm.uniquenessRatio = 10;  
23.     sgbm.speckleWindowSize = 100;  
24.     sgbm.speckleRange = 32;  
25.     sgbm.disp12MaxDiff = 1;  
26.     Mat disp, disp8;  
27.     int64 t = getTickCount();  
28.     sgbm((Mat)img1, (Mat)img2, disp);  
29.     t = getTickCount() - t;  
30.     cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;  
31.     disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));  
32.   
33.     namedWindow("left", 1);  
34.     cvShowImage("left", img1);  
35.     namedWindow("right", 1);  
36.     cvShowImage("right", img2);  
37.     namedWindow("disparity", 1);  
38.     imshow("disparity", disp8);  
39.     waitKey();  
40.     imwrite("sgbm_disparity.png", disp8);     
41.     cvDestroyAllWindows();  
42.     return 0;  
43. }  

#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;
}

四、GC算法 效果最好，速度最慢

[cpp] view plain copy print ?

1. void GC()  
2. {  
3.     IplImage * img1 = cvLoadImage("left.png",0);  
4.     IplImage * img2 = cvLoadImage("right.png",0);  
5.     CvStereoGCState* GCState=cvCreateStereoGCState(64,3);  
6.     assert(GCState);  
7.     cout<<"start matching using GC"<<endl;  
8.     CvMat* gcdispleft=cvCreateMat(img1->height,img1->width,CV_16S);  
9.     CvMat* gcdispright=cvCreateMat(img2->height,img2->width,CV_16S);  
10.     CvMat* gcvdisp=cvCreateMat(img1->height,img1->width,CV_8U);  
11.     int64 t=getTickCount();  
12.     cvFindStereoCorrespondenceGC(img1,img2,gcdispleft,gcdispright,GCState);  
13.     t=getTickCount()-t;  
14.     cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;  
15.     //cvNormalize(gcdispleft,gcvdisp,0,255,CV_MINMAX);   
16.     //cvSaveImage("GC_left_disparity.png",gcvdisp);   
17.     cvNormalize(gcdispright,gcvdisp,0,255,CV_MINMAX);  
18.     cvSaveImage("GC_right_disparity.png",gcvdisp);  
19.   
20.   
21.     cvNamedWindow("GC_disparity",0);  
22.     cvShowImage("GC_disparity",gcvdisp);  
23.     cvWaitKey(0);  
24.     cvReleaseMat(&gcdispleft);  
25.     cvReleaseMat(&gcdispright);  
26.     cvReleaseMat(&gcvdisp);  
27. }  

void GC()
{
    IplImage * img1 = cvLoadImage("left.png",0);
    IplImage * img2 = cvLoadImage("right.png",0);
    CvStereoGCState* GCState=cvCreateStereoGCState(64,3);
    assert(GCState);
    cout<<"start matching using GC"<<endl;
    CvMat* gcdispleft=cvCreateMat(img1->height,img1->width,CV_16S);
    CvMat* gcdispright=cvCreateMat(img2->height,img2->width,CV_16S);
    CvMat* gcvdisp=cvCreateMat(img1->height,img1->width,CV_8U);
    int64 t=getTickCount();
    cvFindStereoCorrespondenceGC(img1,img2,gcdispleft,gcdispright,GCState);
    t=getTickCount()-t;
    cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
    //cvNormalize(gcdispleft,gcvdisp,0,255,CV_MINMAX);
    //cvSaveImage("GC_left_disparity.png",gcvdisp);
    cvNormalize(gcdispright,gcvdisp,0,255,CV_MINMAX);
    cvSaveImage("GC_right_disparity.png",gcvdisp);


    cvNamedWindow("GC_disparity",0);
    cvShowImage("GC_disparity",gcvdisp);
    cvWaitKey(0);
    cvReleaseMat(&gcdispleft);
    cvReleaseMat(&gcdispright);
    cvReleaseMat(&gcvdisp);
}