几种典型的立体匹配算法

使用左右两张图片，计算深度图。一下几种算法代码参考 
http://www.360doc.com/content/13/0129/11/11533449_263014896.shtml，经验证可行。并得到一下的深度图，貌似DP算法比较快并且效果还蛮好的。

SAD算法

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> GetHammingWeight(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> value);  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main(){  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> compareLength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"compare length:  "</span><<compareLength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"SAD test"</span><<endl;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// char stopKey;   </span>
    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"left.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"right.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * SADImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  

    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  



    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Census Transform */</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i,j ,m,n,k;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> centerPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bigger = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  



    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *matchLevel = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[maxDBounds - minDBounds  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* dst;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* leftSrc  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* rightSrc = NULL;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  


    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < leftImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< leftImage->width;j++){  

            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (k = minDBounds;k <= maxDBounds;k++)  
            {  
                sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i-hWin; m <= i + hWin;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n <= j + hWin;n++)  
                    {  
                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= imageWidth )  
                          {  
                              subPixel  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (n + k >= imageWidth)  
                          {  
                              subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
                          {  
                              leftSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData   
                                          + m*leftImage->widthStep + n + k;   
                              rightSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData   
                                           + m*rightImage->widthStep + n;  

                              leftPixel = *leftSrc;  
                              rightPixel = *rightSrc;  
                              <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (leftPixel > rightPixel)  
                              {  
                                   subPixel = leftPixel - rightPixel;  
                              }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>   
                              {  
                                   subPixel = rightPixel -leftPixel;  
                              }  

                          }  

                          sum += subPixel;  
                    }  
                }  
                matchLevel[k] = sum;  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<sum<<endl;   </span>
            }  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*寻找最佳匹配点*/</span>  
           <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// matchLevel[0] = 1000000;   </span>

            tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> ( m = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m < maxDBounds - minDBounds + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m++)  
            {  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<matchLevel[m]<<endl;   </span>
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (matchLevel[m] < matchLevel[tempIndex])  
                {  
                    tempMin = matchLevel[m];  
                    tempIndex = m;  
                }  
            }  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)SADImage->imageData + i*SADImage->widthStep + j;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"index: "<<tempIndex<<"  ";   </span>

            *dst = tempIndex*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  

            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;  
            *dst = tempMin;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"min:  "<<tempMin<<"  ";   </span>
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<< tempIndex<<"  " <<tempMin<<endl;   </span>
        }  
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cvWaitKey(0);   </span>
    }  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,SADImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,MatchLevelImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,SADImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"matchLevel.jpg"</span>,MatchLevelImage);  

    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    cvDestroyAllWindows();  
    cvReleaseImage(&leftImage);  
    cvReleaseImage(&rightImage);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; 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padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li></ul>

SSD算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> GetHammingWeight(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> value);  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main(){  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> compareLength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"compare length:  "</span><<compareLength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"SAD test"</span><<endl;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// char stopKey;   </span>
    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"l2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"r2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * SADImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  

    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  



    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Census Transform */</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i,j ,m,n,k;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> centerPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bigger = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  



    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *matchLevel = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[maxDBounds - minDBounds  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* dst;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* leftSrc  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* rightSrc = NULL;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  


    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < leftImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< leftImage->width;j++){  

            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (k = minDBounds;k <= maxDBounds;k++)  
            {  
                sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i-hWin; m <= i + hWin;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n <= j + hWin;n++)  
                    {  
                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= imageWidth )  
                          {  
                              subPixel  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (n + k >= imageWidth)  
                          {  
                              subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
                          {  
                              leftSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData   
                                          + m*leftImage->widthStep + n + k;   
                              rightSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData   
                                           + m*rightImage->widthStep + n;  

                              leftPixel = *leftSrc;  
                              rightPixel = *rightSrc;  
                              <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (leftPixel > rightPixel)  
                              {  
                                   subPixel = leftPixel - rightPixel;  
                              }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>   
                              {  
                                   subPixel = rightPixel -leftPixel;  
                              }  

                          }  

                          sum += subPixel*subPixel;  
                    }  
                }  
                matchLevel[k] = sum;  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<sum<<endl;   </span>
            }  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*寻找最佳匹配点*/</span>  
           <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// matchLevel[0] = 1000000;   </span>

            tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> ( m = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m < maxDBounds - minDBounds + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m++)  
            {  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<matchLevel[m]<<endl;   </span>
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (matchLevel[m] < matchLevel[tempIndex])  
                {  
                    tempMin = matchLevel[m];  
                    tempIndex = m;  
                }  
            }  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)SADImage->imageData + i*SADImage->widthStep + j;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"index: "<<tempIndex<<"  ";   </span>

            *dst = tempIndex*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  

            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;  
            *dst = tempMin;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"min:  "<<tempMin<<"  ";   </span>
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<< tempIndex<<"  " <<tempMin<<endl;   </span>
        }  
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cvWaitKey(0);   </span>
    }  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,SADImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,MatchLevelImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,SADImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"matchLevel.jpg"</span>,MatchLevelImage);  

    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    cvDestroyAllWindows();  
    cvReleaseImage(&leftImage);  
    cvReleaseImage(&rightImage);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li></ul>

ZSSD算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> GetHammingWeight(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> value);  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main(){  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> compareLength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"compare length:  "</span><<compareLength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"ZSSD test"</span><<endl;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// char stopKey;   </span>
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*  IplImage * leftImage = cvLoadImage("l2.jpg",0); 
    IplImage * rightImage = cvLoadImage("r2.jpg",0);*/</span>  

    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"left.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"right.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * SADImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  

    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  



    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Census Transform */</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i,j ,m,n,k;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> centerPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bigger = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  



    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sumLeft = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sumRight = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sum =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> zSumLeft  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> zSumRight = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *matchLevel = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[maxDBounds - minDBounds  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* dst;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* leftSrc  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* rightSrc = NULL;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> meanLeftPixel  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> meanRightPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  


    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < leftImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< leftImage->width;j++){  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*均值计算 */</span>  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (k = minDBounds;k <= maxDBounds;k++)  
            {  
                sumLeft  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                sumRight = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i-hWin; m <= i + hWin;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n <= j + hWin;n++)  
                    {  
                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= imageWidth )  
                          {  
                              sumLeft += <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                              leftSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData   
                                  + m*leftImage->widthStep + n + k;   
                              leftPixel = *leftSrc;  
                              sumLeft += leftPixel;  
                          }  


                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n + k <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n +k >= imageWidth)  
                          {  
                               sumRight += <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
                          {   
                              rightSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData   
                                           + m*rightImage->widthStep + n;  
                              rightPixel = *rightSrc;  
                              sumRight += rightPixel;     
                          }  

                    }  
                }  

                meanLeftPixel  = sumLeft/compareLength;  
                meanRightPixel = sumRight/compareLength;  
                 <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*ZSSD*/</span>  
               sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i-hWin; m <= i + hWin;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n <= j + hWin;n++)  
                    {  
                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= imageWidth )  
                          {  
                              <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//zSumLeft += 0;   </span>
                              leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                              leftSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData   
                                  + m*leftImage->widthStep + n + k;   
                              leftPixel = *leftSrc;  
                              <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//zSumLeft += (leftPixel - meanLeftPixel)*(leftPixel -meanLeftPixel);   </span>
                          }  


                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n + k <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n +k >= imageWidth)  
                          {  
                               <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//zSumRight += 0;   </span>
                              rightPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
                          {   
                              rightSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData   
                                           + m*rightImage->widthStep + n;  
                              rightPixel = *rightSrc;  
                              <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// zSumRight += (rightPixel - meanRightPixel)*(rightPixel - meanRightPixel);      </span>
                          }  

                          sum += ((rightPixel - meanRightPixel)-(leftPixel -meanLeftPixel))  
                                 *((rightPixel - meanRightPixel)-(leftPixel -meanLeftPixel));  
                    }  
                }  


                matchLevel[k] = sum;  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<sum<<endl;   </span>
            }  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*寻找最佳匹配点*/</span>  
           <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// matchLevel[0] = 1000000;   </span>

            tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> ( m = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m < maxDBounds - minDBounds + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m++)  
            {  
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<matchLevel[m]<<endl;   </span>
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (matchLevel[m] < matchLevel[tempIndex])  
                {  
                    tempMin = matchLevel[m];  
                    tempIndex = m;  
                }  
            }  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)SADImage->imageData + i*SADImage->widthStep + j;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"index: "<<tempIndex<<"  ";   </span>

            *dst = tempIndex*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;  
            *dst = tempMin;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"min:  "<<tempMin<<"  ";   </span>
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<< tempIndex<<"  " <<tempMin<<endl;   </span>
        }  
       <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// cvWaitKey(0);   </span>
    }  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,SADImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,MatchLevelImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,SADImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"matchLevel.jpg"</span>,MatchLevelImage);  


    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<endl<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Over"</span><<endl;  
    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    cvDestroyAllWindows();  
    cvReleaseImage(&leftImage);  
    cvReleaseImage(&rightImage);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li></ul>

census 算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> GetHammingWeight(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> value);  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main(){  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitlength = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> ((<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)%<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span> == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)  
    {  
        bitlength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>;  
    }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
        bitlength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;   
    }    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"bit length:  "</span><<bitlength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census test"</span><<endl;  
   <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// char stopKey;   </span>
    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"left.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"right.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * CensusImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// int leftCensus[imageHeight][imageWidth][bitlength] = {0};     </span>
     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span>  <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *leftCensus = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[imageHeight*imageWidth*bitlength];  
     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span>  <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *rightCensus = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[imageHeight*imageWidth*bitlength];   
     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;i < imageHeight*imageWidth*bitlength;i++)  
     {  
         leftCensus[i] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
         rightCensus[i] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
     }  
     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> pointCnt = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  




    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  



    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Census Transform */</span>  
   <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i,j ,m,n,k,l;  
   <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> centerPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   
   <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
   <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
   <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bigger = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < leftImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< leftImage->width;j++){  
             centerPixel = *((<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)leftImage->imageData + i*leftImage->widthStep + j);   
             bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

             <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i - hWin; m <= i + hWin;m++)  
             {  
                 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n<= j+hWin;n++)  
                 {  
                     bitCount++;  
                     <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= leftImage->height || n < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= leftImage->width)  
                     {  
                         neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                     }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>{  
                          neighborPixel = *((<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)leftImage->imageData + m*leftImage->widthStep + n);   
                     }  
                     bigger = (neighborPixel > centerPixel)?<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>:<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                     leftCensus[(i*imageWidth + j)*bitlength + bitCount/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>] |= (bigger<<(bitCount%<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>));  
                 }  
             }  

        }  
    }  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < rightImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< rightImage->width;j++){  
            centerPixel = *((<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)rightImage->imageData + i*rightImage->widthStep + j);   
            bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i - hWin; m <= i + hWin;m++)  
            {  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n<= j+hWin;n++)  
                {  
                    bitCount++;  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= rightImage->height || n < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= rightImage->width)  
                    {  
                        neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                    }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>{  
                        neighborPixel = *((<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)rightImage->imageData + m*rightImage->widthStep + n);   
                    }  
                    bigger = (neighborPixel > centerPixel)?<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>:<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                    rightCensus[(i*imageWidth + j)*bitlength + bitCount/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>] |= (bigger<<(bitCount%<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">32</span>));  
                }  
            }  

        }  
    }  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> *matchLevel = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>[maxDBounds - minDBounds  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span>  <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *dst;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> pixle = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < rightImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< rightImage->width;j++){  


            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (k = minDBounds;k <= maxDBounds;k++)  
            {  
                sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (l = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;l< bitlength;l++)  
                {     
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (((i*imageWidth+j+k)*bitlength + l) < imageHeight*imageWidth*bitlength)  
                    {  
                        sum += GetHammingWeight(rightCensus[(i*imageWidth+j)*bitlength + l]   
                        ^ leftCensus[(i*imageWidth+j+k)*bitlength + l]);  
                    }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//sum += 0;   </span>
                       <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// cout<<".";   </span>
                    }  

                }  
                matchLevel[k] = sum;  
            }  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*寻找最佳匹配点*/</span>  
            tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> ( m = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m < maxDBounds - minDBounds + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m++)  
            {  
                 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (matchLevel[m] < matchLevel[tempIndex])  
                 {  
                     tempMin = matchLevel[m];  
                     tempIndex = m;  
                 }  
            }  

            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (tempMin > (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.2</span>)  
            {  
                tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                pointCnt++;  
            }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>{  
                tempMin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>;  
            }  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)CensusImage->imageData + i*CensusImage->widthStep + j;  
            *dst = tempIndex*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  

            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;  
            *dst = tempMin;  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<< tempIndex<<"  " <<tempMin<<endl;;   </span>

        }  
    }  
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"pointCnt:  "</span><<pointCnt<<endl;  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,CensusImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,MatchLevelImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,CensusImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"matchLevel.jpg"</span>,MatchLevelImage);  

    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    cvDestroyAllWindows();  
    cvReleaseImage(&leftImage);  
    cvReleaseImage(&rightImage);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  


<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> GetHammingWeight(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> value)  
{  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span>(value == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>) <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> a = value;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> b = value -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> c = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">while</span>(c = a & b)  
    {  
        count++;  
        a = c;  
        b = c-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;  
    }  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> count;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li></ul>

NCC算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cmath>   </span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main(){  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> compareLength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"compare length:  "</span><<compareLength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"NCC test"</span><<endl;  
  <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*  IplImage * leftImage = cvLoadImage("l2.jpg",0); 
    IplImage * rightImage = cvLoadImage("r2.jpg",0);*/</span>  

    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"left.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);                             
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"right.bmp"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * NCCImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  

    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  



    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Census Transform */</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i,j ,m,n,k;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> centerPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> neighborPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bitCount = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> bigger = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> sum =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> leftSquareSum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> rightSquareSum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;   

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span> *matchLevel = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">new</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span>[maxDBounds - minDBounds  + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span> tempMax = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* dst;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* leftSrc  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>* rightSrc = NULL;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> subPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> meanLeftPixel  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> meanRightPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  


    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < leftImage->height;i++){  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>(j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< leftImage->width;j++){  

            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*均值计算 */</span>  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (k = minDBounds;k <= maxDBounds;k++)  
            {  
                sum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                leftSquareSum  = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                rightSquareSum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

                 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (m = i-hWin; m <= i + hWin;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (n = j - hWin; n <= j + hWin;n++)  
                    {  
                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n >= imageWidth )  
                          {  

                              leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                              leftSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData   
                                  + m*leftImage->widthStep + n + k;   
                              leftPixel = *leftSrc;  

                          }  


                          <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (m < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || m >= imageHeight || n + k <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || n +k >= imageWidth)  
                          {  

                              rightPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                          }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
                          {   
                              rightSrc = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData   
                                           + m*rightImage->widthStep + n;  
                              rightPixel = *rightSrc;  

                          }  

                          sum +=  leftPixel*rightPixel;  
                          leftSquareSum  += leftPixel*leftPixel;  
                          rightSquareSum += rightPixel*rightPixel;  

                    }  
                }  
                matchLevel[k] = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span>)sum/(<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sqrt</span>(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span>(leftSquareSum))*<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sqrt</span>((<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span>)rightSquareSum));  

            }  


            tempMax = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            tempIndex = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> ( m = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m < maxDBounds - minDBounds + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;m++)  
            {  

                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (matchLevel[m] > matchLevel[tempIndex])  
                {  
                    tempMax = matchLevel[m];  
                    tempIndex = m;  
                }  
            }  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)NCCImage->imageData + i*NCCImage->widthStep + j;  

            *dst = tempIndex*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  
            dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)MatchLevelImage->imageData + i*MatchLevelImage->widthStep + j;  
            *dst = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>)(tempMax*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>);  

        }  

    }  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Census"</span>,NCCImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,MatchLevelImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,NCCImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"matchLevel.jpg"</span>,MatchLevelImage);  


    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<endl<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Over"</span><<endl;  
    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    cvDestroyAllWindows();  
    cvReleaseImage(&leftImage);  
    cvReleaseImage(&rightImage);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li></ul>

DP算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cstdio>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cstring>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cmath>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">const</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Width =  <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1024</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">const</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Height = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1024</span>;  
 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Ddynamic[Width][Width];  

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>  main()  
{    
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/*Half of the window size for the census transform*/</span>  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> hWin = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> compareLength = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)*(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*hWin+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"hWin: "</span><<hWin<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">";  "</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"compare length:  "</span><<compareLength<<endl;    
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"belief propagation test"</span><<endl;  

    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"l2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"r2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

   <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// IplImage * leftImage = cvLoadImage("left.bmp",0);                              </span>
   <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// IplImage * rightImage = cvLoadImage("right.bmp",0);   </span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  



    IplImage * DPImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//IplImage * MatchLevelImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,1);   </span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pPixel = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>  pixel;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i< imageHeight;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j < imageWidth;j++ )  
        {  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)DPImage->imageData + i*DPImage->widthStep + j;  
            *pPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
        }  
    }  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxDBounds = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  

    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Depth"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"MatchLevel"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minD = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxD = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//假设图像是经过矫正的，那么每次都只是需要搜搜同一行的内容   </span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> max12Diff = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;i < imageWidth;i++)  
    {  
        Ddynamic[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>][i] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
        Ddynamic[i][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    }  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pLeftPixel  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pRightPixel = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> m,n,l;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < imageHeight;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j<imageWidth;j++)  
        {  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> k = j + minD; k <= j + maxD;k++)  
            {  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (k <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || k >= imageWidth)  
                {  

                }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                    pLeftPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData + i*leftImage->widthStep + k;  
                    pRightPixel= (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData+i*rightImage->widthStep + j;  
                    leftPixel  = *pLeftPixel;  
                    rightPixel = *pRightPixel;  

                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">abs</span>(leftPixel - rightPixel) <= max12Diff)  
                    {  
                        Ddynamic[j + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] = Ddynamic[j][k] +<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;   
                    }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (Ddynamic[j][k+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] > Ddynamic[j+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k])  
                    {  
                        Ddynamic[j + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] = Ddynamic[j][k+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
                    }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>{  
                        Ddynamic[j+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] = Ddynamic[j+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k];  
                    }  

                    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<Ddynamic[j +1][k+1]<<"  ";   </span>
                }  

            }  
             <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"\n";   </span>
        }  
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//逆向搜索，找出最佳路径   </span>
         m = imageWidth;  
         n = imageWidth;  
         l = Ddynamic[imageWidth][imageWidth];  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">while</span>( l><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> )  
        {  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (Ddynamic[m][n] == Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n])    
                m--;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (Ddynamic[m][n] == Ddynamic[m][n-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>])    
                n--;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
            {   
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//s[--l]=a[i-1];   </span>
                pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)DPImage->imageData + i*DPImage->widthStep + m;  
                *pPixel = (n-m)*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  
                l--;  
                m--;   
                n--;  
            }  
        }  

       <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cvWaitKey(0);   </span>

    }  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Depth"</span>,DPImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,DPImage);  
    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  </code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li></ul>

DP_5算法：

<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//引入概率公式   </span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cstdio>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cstring>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <iostream>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<cv.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include<highgui.h>   </span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <cmath>   </span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">const</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Width =  <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1024</span>;  
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">const</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Height = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1024</span>;  
 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Ddynamic[Width][Width];  

 <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//使用钟形曲线作为匹配概率，差值越小则匹配的概率越大，最终的要求是使匹配的概率最大，概率曲线使用matlab生成   </span>
 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> Probability[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">256</span>] = {  
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">254</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">252</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">250</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">247</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">244</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">240</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">235</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">230</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">225</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">219</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">213</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">206</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">200</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">192</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">185</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">178</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">170</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">162</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">155</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">147</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">139</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">132</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">124</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">117</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">110</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">103</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">96</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">89</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">83</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">77</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">71</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">65</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">60</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">55</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">50</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">46</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">42</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">38</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">35</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">28</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">25</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">23</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">18</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">16</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">14</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">13</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">9</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">7</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">6</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,   
    <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>  
 };  

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>  main()  
{    

    IplImage * leftImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"l2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    IplImage * rightImage = cvLoadImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"r2.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//IplImage * leftImage = cvLoadImage("left.bmp",0);                              </span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//IplImage * rightImage = cvLoadImage("right.bmp",0);   </span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageWidth = leftImage->width;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> imageHeight =leftImage->height;  

    IplImage * DPImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * effectiveImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    IplImage * FilterImage = cvCreateImage(cvGetSize(leftImage),leftImage->depth,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pPixel = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>  pixel;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pPixel2 = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>  pixel2;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i< imageHeight;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j < imageWidth;j++ )  
        {  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)DPImage->imageData + i*DPImage->widthStep + j;  
            *pPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)effectiveImage->imageData + i*effectiveImage->widthStep + j;  
            *pPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
        }  
    }  



    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Depth"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  
    cvNamedWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"effectiveImage"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);  

    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Left"</span>,leftImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Right"</span>,rightImage);  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> minD = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> maxD = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">31</span>;  
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//假设图像是经过矫正的，那么每次都只是需要搜搜同一行的内容   </span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> max12Diff = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;i < imageWidth;i++)  
    {  
        Ddynamic[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>][i] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
        Ddynamic[i][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    }  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pLeftPixel  = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> * pRightPixel = NULL;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> leftPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> rightPixel =<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> m,n,l;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> t1 = clock();  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i < imageHeight;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j<imageWidth;j++)  
        {  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> k = j + minD; k <= j + maxD;k++)  
            {  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (k <<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> || k >= imageWidth)  
                {  

                }<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> {  
                    pLeftPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)leftImage->imageData + i*leftImage->widthStep + k;  
                    pRightPixel= (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span>*)rightImage->imageData+i*rightImage->widthStep + j;  
                    leftPixel  = *pLeftPixel;  
                    rightPixel = *pRightPixel;  
                    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//之前概率最大的点加上当前的概率   </span>

                    Ddynamic[j + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] = max(Ddynamic[j][k],max(Ddynamic[j][k+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>],Ddynamic[j+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][k]))  
                                             + Probability[<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">abs</span>(leftPixel - rightPixel)];  
                    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* if (abs(leftPixel - rightPixel) <= max12Diff) 
                    { 
                    Ddynamic[j + 1][k + 1] = Ddynamic[j][k] +1;  
                    }else if (Ddynamic[j][k+1] > Ddynamic[j+1][k]) 
                    { 
                    Ddynamic[j + 1][k + 1] = Ddynamic[j][k+1]; 
                    }else{ 
                    Ddynamic[j+1][k+1] = Ddynamic[j+1][k]; 
                    }*/</span>  

                    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<Ddynamic[j +1][k+1]<<"  ";   </span>
                }  

            }  
             <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cout<<"\n";   </span>
        }  
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//逆向搜索，找出最佳路径   </span>
         m = imageWidth;  
         n = imageWidth;  
         l = Ddynamic[imageWidth][imageWidth];  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">while</span>( m >= <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span> && n >= <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)  
        {  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)DPImage->imageData + i*DPImage->widthStep + m;  
            *pPixel = (n-m)*<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>;  
            <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//标记有效匹配点   </span>
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)effectiveImage->imageData + i*effectiveImage->widthStep + m;  
            *pPixel = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n] >= Ddynamic[m][n -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] && Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n] >= Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>])    
                m--;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (Ddynamic[m][n-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] >= Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n] && Ddynamic[m][n -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] >= Ddynamic[m-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>][n -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>])    
                n--;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>  
            {   
                <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//s[--l]=a[i-1];          </span>
               <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// l -= Ddynamic[m][n];   </span>
                m--;   
                n--;  
            }  
        }  

       <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//cvWaitKey(0);   </span>
    }  

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//refine the depth image  7*7中值滤波   </span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//统计未能匹配点的个数   </span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ;i< imageHeight;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j= <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j< imageWidth;j++)  
        {  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)effectiveImage->imageData + i*effectiveImage->widthStep + j;  
            pixel = *pPixel;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (pixel == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)  
            {  
                count++;  
            }  
        }  
    }  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> t2 = clock();  
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"dt: "</span><<t2-t1<<endl;  
    <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Count:  "</span><<count<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"  "</span><<(<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span>)count/(imageWidth*imageHeight)<<endl;  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Depth"</span>,DPImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"effectiveImage"</span>,effectiveImage);  
   <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">// cvWaitKey(0);   </span>


    FilterImage = cvCloneImage(DPImage);  

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//7*7中值滤波   </span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> halfMedianWindowSize = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> medianWindowSize = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>*halfMedianWindowSize + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> medianArray[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">100</span>] = {<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>};  
    count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> temp = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> medianVal = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = halfMedianWindowSize + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span> ;i< imageHeight - halfMedianWindowSize;i++)  
    {  
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j = halfMedianWindowSize; j< imageWidth - halfMedianWindowSize;j++)  
        {  
            pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)effectiveImage->imageData + i*effectiveImage->widthStep + j;  
            pixel = *pPixel;  
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (pixel == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)  
            {  
                count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
                <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> m = i - halfMedianWindowSize ; m <= i + halfMedianWindowSize ;m++)  
                {  
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> n = j - halfMedianWindowSize; n <= j + halfMedianWindowSize ;n++)  
                    {  
                        pPixel2 = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)DPImage->imageData + m*DPImage->widthStep + n;  
                        pixel2 = *pPixel2;  
                        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (pixel2 != <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)  
                        {  
                             medianArray[count] = pixel2;  
                             count++;  
                        }  

                    }  
                    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//排序   </span>
                    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> k = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; k< count;k++)  
                    {  
                        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> l = k + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>; l< count;l++)  
                        {  
                            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (medianArray[l] < medianArray[l-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] )  
                            {  
                                temp = medianArray[l];  
                                medianArray[l] = medianArray[l-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>];  
                                medianArray[l-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] = temp;  
                            }  
                        }  
                    }  
                    medianVal = medianArray[count/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>];  
                    pPixel = (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">unsigned</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">char</span> *)FilterImage->imageData + i*DPImage->widthStep + j;  
                    *pPixel = medianVal;  
                }  

            }  
        }  
    }  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Depth"</span>,DPImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"effectiveImage"</span>,effectiveImage);  
    cvShowImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Filter"</span>,FilterImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"depth.jpg"</span>,DPImage);  
    cvSaveImage(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"effective.jpg"</span>,effectiveImage);  

    cvWaitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);  
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;  
}  
</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li><li style="box-sizing: border-box; padding: 0px 5px;">195</li><li style="box-sizing: border-box; padding: 0px 5px;">196</li><li style="box-sizing: border-box; padding: 0px 5px;">197</li><li style="box-sizing: border-box; padding: 0px 5px;">198</li><li style="box-sizing: border-box; padding: 0px 5px;">199</li><li style="box-sizing: border-box; padding: 0px 5px;">200</li><li style="box-sizing: border-box; padding: 0px 5px;">201</li><li style="box-sizing: border-box; padding: 0px 5px;">202</li><li style="box-sizing: border-box; padding: 0px 5px;">203</li><li style="box-sizing: border-box; padding: 0px 5px;">204</li><li style="box-sizing: border-box; padding: 0px 5px;">205</li><li style="box-sizing: border-box; padding: 0px 5px;">206</li><li style="box-sizing: border-box; padding: 0px 5px;">207</li><li style="box-sizing: border-box; padding: 0px 5px;">208</li><li style="box-sizing: border-box; padding: 0px 5px;">209</li><li style="box-sizing: border-box; padding: 0px 5px;">210</li><li style="box-sizing: border-box; padding: 0px 5px;">211</li><li style="box-sizing: border-box; padding: 0px 5px;">212</li><li style="box-sizing: border-box; padding: 0px 5px;">213</li><li style="box-sizing: border-box; padding: 0px 5px;">214</li><li style="box-sizing: border-box; padding: 0px 5px;">215</li><li style="box-sizing: border-box; padding: 0px 5px;">216</li><li style="box-sizing: border-box; padding: 0px 5px;">217</li><li style="box-sizing: border-box; padding: 0px 5px;">218</li><li style="box-sizing: border-box; padding: 0px 5px;">219</li><li style="box-sizing: border-box; padding: 0px 5px;">220</li><li style="box-sizing: border-box; padding: 0px 5px;">221</li><li style="box-sizing: border-box; padding: 0px 5px;">222</li><li style="box-sizing: border-box; padding: 0px 5px;">223</li><li style="box-sizing: border-box; padding: 0px 5px;">224</li><li style="box-sizing: border-box; padding: 0px 5px;">225</li><li style="box-sizing: border-box; padding: 0px 5px;">226</li><li style="box-sizing: border-box; padding: 0px 5px;">227</li><li style="box-sizing: border-box; padding: 0px 5px;">228</li><li style="box-sizing: border-box; padding: 0px 5px;">229</li><li style="box-sizing: border-box; padding: 0px 5px;">230</li><li style="box-sizing: border-box; padding: 0px 5px;">231</li><li style="box-sizing: border-box; padding: 0px 5px;">232</li><li style="box-sizing: border-box; padding: 0px 5px;">233</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li><li style="box-sizing: border-box; padding: 0px 5px;">195</li><li style="box-sizing: border-box; padding: 0px 5px;">196</li><li style="box-sizing: border-box; padding: 0px 5px;">197</li><li style="box-sizing: border-box; padding: 0px 5px;">198</li><li style="box-sizing: border-box; padding: 0px 5px;">199</li><li style="box-sizing: border-box; padding: 0px 5px;">200</li><li style="box-sizing: border-box; padding: 0px 5px;">201</li><li style="box-sizing: border-box; padding: 0px 5px;">202</li><li style="box-sizing: border-box; padding: 0px 5px;">203</li><li style="box-sizing: border-box; padding: 0px 5px;">204</li><li style="box-sizing: border-box; padding: 0px 5px;">205</li><li style="box-sizing: border-box; padding: 0px 5px;">206</li><li style="box-sizing: border-box; padding: 0px 5px;">207</li><li style="box-sizing: border-box; padding: 0px 5px;">208</li><li style="box-sizing: border-box; padding: 0px 5px;">209</li><li style="box-sizing: border-box; padding: 0px 5px;">210</li><li style="box-sizing: border-box; padding: 0px 5px;">211</li><li style="box-sizing: border-box; padding: 0px 5px;">212</li><li style="box-sizing: border-box; padding: 0px 5px;">213</li><li style="box-sizing: border-box; padding: 0px 5px;">214</li><li style="box-sizing: border-box; padding: 0px 5px;">215</li><li style="box-sizing: border-box; padding: 0px 5px;">216</li><li style="box-sizing: border-box; padding: 0px 5px;">217</li><li style="box-sizing: border-box; padding: 0px 5px;">218</li><li style="box-sizing: border-box; padding: 0px 5px;">219</li><li style="box-sizing: border-box; padding: 0px 5px;">220</li><li style="box-sizing: border-box; padding: 0px 5px;">221</li><li style="box-sizing: border-box; padding: 0px 5px;">222</li><li style="box-sizing: border-box; padding: 0px 5px;">223</li><li style="box-sizing: border-box; padding: 0px 5px;">224</li><li style="box-sizing: border-box; padding: 0px 5px;">225</li><li style="box-sizing: border-box; padding: 0px 5px;">226</li><li style="box-sizing: border-box; padding: 0px 5px;">227</li><li style="box-sizing: border-box; padding: 0px 5px;">228</li><li style="box-sizing: border-box; padding: 0px 5px;">229</li><li style="box-sizing: border-box; padding: 0px 5px;">230</li><li style="box-sizing: border-box; padding: 0px 5px;">231</li><li style="box-sizing: border-box; padding: 0px 5px;">232</li><li style="box-sizing: border-box; padding: 0px 5px;">233</li></ul>