求视差图

#include <iostream>
#include <cmath>
#include <opencv2\opencv.hpp>
using namespace  cv;
using namespace std;
const int area=50;
float compute(Mat& imgl,Mat& imgr,Mat& dstDisparity)
{
MatConstIterator_<float> l=imgl.begin<float>();
MatConstIterator_<float> r=imgr.begin<float>();
float s=0.0;
for(;l!=imgl.end<float>();l++,r++)
{
s+=powf(*l-*r,2);
}
return s;
}
int main()
{
Mat srcLeft=imread("imL.png",0);
Mat srcRight=imread("imR.png",0);
srcLeft.convertTo(srcLeft,CV_32FC1);
srcRight.convertTo(srcRight,CV_32FC1);
Mat dstDisparity;
int windowsize=5;
int winsize=windowsize/2;
int mindis=0;
dstDisparity.create(srcLeft.size(),srcLeft.type());
int height=srcLeft.rows;
int width=srcLeft.cols;

for(int i=winsize;i<height-winsize;i++)
for(int j=winsize;j<width-winsize;j++)
{
int s;
int disp=0;
Mat imgl=srcLeft(Rect(j-winsize,i-winsize,windowsize,windowsize));
for(int k=0;k<area;k++)
{
int d=mindis+k;
if(j-d<winsize)
continue;
Mat imgr=srcRight(Rect(j-d-winsize,i-winsize,windowsize,windowsize));
float m=compute(imgl,imgr,dstDisparity);
if(k==0)
s=m;
else if(s>m)
{
s=m;
disp=d;
}
dstDisparity.at<float>(i,j)=disp;
}
}
double min,max;
minMaxLoc(dstDisparity,&min,&max);
dstDisparity=(dstDisparity-min)/(max-min)*255;

imwrite("disparity.png",dstDisparity);
dstDisparity=imread("disparity.png");
imshow("disparity",dstDisparity);
waitKey(0);
return 0;
}