双目视觉06_立体匹配SAD滑动窗口

SAD立体匹配
以下为左图

以下为右图

代码程序

import os
import time
import cv2 as cv
import numpy as np
import matplotlib.pyplot as plt
from numba import jit
from PIL import Image

maxDisparity=25 #最大视差
window_size=5#滑动窗口大小
window_size_SW=5
#-------------------------------
'''这一部分是读取图片，请输入已经极线校准过的左图和右图，本算法不支持未校准图像的匹配'''
#------------------------------
# os.chdir(r'C:\Users\86198\Desktop\learn\AAAAAAAAAAAA相机程序\下载的双目图像')
lraw=np.asanyarray(Image.open(r"E:\program\opencv教程\pic\left\left.png"))
rraw=np.asanyarray(Image.open(r"E:\program\opencv教程\pic\right\right.png"))

window_half_size_SW = int(window_size_SW / 2)
# os.chdir(r'C:\Users\86198\Desktop\learn\AAAAAAAAAAAA相机程序\下载的双目图像')
# lraw = np.asanyarray(Image.open(r"scene1.row3.col1.ppm"))
# rraw = np.asanyarray(Image.open(r"scene1.row3.col3.ppm"))
limg = cv.cvtColor(lraw, cv.COLOR_BGR2GRAY)
rimg = cv.cvtColor(rraw, cv.COLOR_BGR2GRAY)
limg = np.asanyarray(limg, dtype=np.double)
rimg = np.asanyarray(rimg, dtype=np.double)
img_size = np.shape(limg)[0: