VS2013 + OpenCV3.1立体匹配算法对比研究（SGBM、BM）

原文链接：OpenCV3.0立体匹配算法对比研究（SGBM、BM、GC）

原文博主已经写得很详细了，只是因为平台的原因，在代码实现上需要稍作修改

SCBM：Stereo Processing by Semi-global Matching and Mutual Information
详细的原理分析可以看这个链接：opencvSGBM半全局立体匹配算法的研究(1)

主要是改了三点：
1.//#include “stdafx.h”//20191104 我没有预编译头，去掉
2.#include <tchar.h>//20191104 添加这个库，不然 _TCHAR* argv[]会报错
3. cv::imwrite(“SGBM.jpg”, disp8U);//20191104 加上cv:: 不然无法保存

//#include "stdafx.h"//20191104 我没有预编译头，去掉
#include "opencv2/opencv.hpp"
#include <tchar.h>//20191104 添加这个库，不然 _TCHAR* argv[]会报错
using namespace std;
using namespace cv;
int _tmain(int argc, _TCHAR* argv[])
{
	Mat left = imread("0_L.png", IMREAD_GRAYSCALE);
	Mat right = imread("0_R.png", IMREAD_GRAYSCALE);
	Mat disp;
	int mindisparity = 0;
	int ndisparities = 64;
	int SADWindowSize = 11;
	//SGBM
	cv::Ptr<cv::StereoSGBM> sgbm = cv::StereoSGBM::create(mindisparity, ndisparities, SADWindowSize);
	int P1 = 8 * left.channels() * SADWindowSize* SADWindowSize;
	int P2 = 32 * left.channels() * SADWindowSize* SADWindowSize;
	sgbm->setP1(P1);
	sgbm->setP2(P2);
	sgbm->setPreFilterCap(15);
	sgbm->setUniquenessRatio(10);
	sgbm->setSpeckleRange(2);
	sgbm->setSpeckleWindowSize(100);
	sgbm->setDisp12MaxDiff(1);
	//sgbm->setMode(cv::StereoSGBM::MODE_HH);
	sgbm->compute(left, right, disp);
	disp.convertTo(disp, CV_32F, 1.0 / 16);                //除以16得到真实视差值
	Mat disp8U = Mat(disp.rows, disp.cols, CV_8UC1);       //显示
	normalize(disp, disp8U, 0, 255, NORM_MINMAX, CV_8UC1);
	cv::imwrite("SGBM.jpg", disp8U);//20191104  加上cv:: 不然无法保存
	return 0;
}

BM（bidirectional matching)算法：修改的地方同上

//#include "stdafx.h"
#include "opencv2/opencv.hpp"
#include <tchar.h>
using namespace std;
using namespace cv;

int _tmain(int argc, _TCHAR* argv[])
{
	Mat left = imread("0_L.png", IMREAD_GRAYSCALE);
	Mat right = imread("0_R.png", IMREAD_GRAYSCALE);
	Mat disp;

	int mindisparity = 0;
	int ndisparities = 64;
	int SADWindowSize = 21;

	cv::Ptr<cv::StereoBM> bm = cv::StereoBM::create(ndisparities, SADWindowSize);
	// setter
	bm->setBlockSize(SADWindowSize);
	bm->setMinDisparity(mindisparity);
	bm->setNumDisparities(ndisparities);
	bm->setPreFilterSize(15);
	bm->setPreFilterCap(31);
	bm->setTextureThreshold(10);
	bm->setUniquenessRatio(10);
	bm->setDisp12MaxDiff(1);

	copyMakeBorder(left, left, 0, 0, 80, 0, IPL_BORDER_REPLICATE);  //防止黑边
	copyMakeBorder(right, right, 0, 0, 80, 0, IPL_BORDER_REPLICATE);
	bm->compute(left, right, disp);

	disp.convertTo(disp, CV_32F, 1.0 / 16); //除以16得到真实视差值
	disp = disp.colRange(80, disp.cols);
	Mat disp8U = Mat(disp.rows, disp.cols, CV_8UC1);
	normalize(disp, disp8U, 0, 255, NORM_MINMAX, CV_8UC1);
	cv::imwrite("BM21.jpg", disp8U);
	return 0;
}