双目视觉07_立体匹配Census算法

以下实验为左图

以下为实验右图

实验代码

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

# lres = census(limg[:, maxDisparity:w])
# maxDisparity = 12  # 最大视差，也就是搜索范围，搜索范围越大耗时越长
# window_size = 5  # 滑动窗口大小，窗口越大匹配成功难度越高
# same = np.int64(window_size / 2)  # 窗口大小的一半向下取整，比如用来衡量窗口左上角与窗口中点的距离的x与y坐标


@jit
def census(img):
    size = np.shape(img)[0:2]
    h = size[0]
    w = size[1]
    census = np.zeros((h - 2 * same, w - 2 * same), dtype=np.int64)
    # census就是经过变换后的图像
    cp = img[same:h - same, same:w - same]
    # cp是变换中心点的坐标，0，0点作为左上角的窗口中，中心点就是(same,same)
    offsets = [(u, v) for v in range(window_size) for u in range(window_size) if not u