三：程序

// Sum of Absolute Difference(SAD) #include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <cv.h>
#include <cxcore.h>
#include <highgui.h>
#include <math.h>
#include <ctime>using namespace std;template<class T> class Image
{
private:IplImage* imgp;public:Image(IplImage* img = 0){ imgp = img; }~Image(){ imgp = 0; }void operator=(IplImage* img){ imgp = img; }inline T* operator[](const int rowIndx){return((T*)(imgp->imageData + rowIndx*imgp->widthStep));}
};typedef struct
{unsigned char b, g, r;
}RgbPixel;typedef struct
{float b, g, r;
}RgbPixelFloat;typedef Image<RgbPixel> RgbImage;
typedef Image<RgbPixelFloat> RgbImageFloat;
typedef Image<unsigned char> BwImage;
typedef Image<float> BwImageFloat;//display an image in a new window with title to be given.
void displayImageNewWindow(char* title, CvArr* img)
{cvNamedWindow(title, CV_WINDOW_AUTOSIZE);cvShowImage(title, img);
}int getMaxMin(double value[], int valueSize, int maxmin)
{int pos = 0;int i = 0;double max1 = -1;//?-999999;double min1 = 999999;if (maxmin == 1){//find maxfor (i = 0; i<valueSize; i++){//find the index with the max value;if (value[i]>max1){pos = i;max1 = value[i];}}}if (maxmin == 0){//find minfor (i = 0; i<valueSize; i++){//find the index with the minimum value;if (value[i]<min1){pos = i;min1 = value[i];}}}return pos;
}IplImage* generateDisparityImage(IplImage* greyLeftImg32, IplImage* greyRightImg32, int windowSize, int DSR)
{int offset = floor((double)windowSize / 2);int height = greyLeftImg32->height;int width = greyLeftImg32->width;double* localSAD = new double[DSR];int x = 0, y = 0, d = 0, m = 0;int N = windowSize;IplImage* winImg = cvCreateImage(cvSize(N, N), 32, 1);//mySubImage(greyLeftImg32,cvRect(0,0,N,N));IplImage* disparity = cvCreateImage(cvSize(width, height), 8, 1);//or IPL_DEPTH_8UBwImage imgA(disparity);for (y = 0; y<height; y++){for (x = 0; x<width; x++){imgA[y][x] = 0;}}CvScalar sum;//CvScalar s2;for (y = 0; y<height - N; y++){//height-Nfor (x = 0; x<width - N; x++){//width-NcvSetImageROI(greyLeftImg32, cvRect(x, y, N, N));d = 0;//initialise localSADfor (m = 0; m<DSR; m++){localSAD[m] = 0;}//start matchingdo{if (x - d >= 0){cvSetImageROI(greyRightImg32, cvRect(x - d, y, N, N));}else{break;}cvAbsDiff(greyLeftImg32, greyRightImg32, winImg);//absolute differencesum = cvSum(winImg);//sumlocalSAD[d] = sum.val[0];//0 means single channelcvResetImageROI(greyRightImg32);d++;} while (d <= DSR);//to find the best d and storeimgA[y + offset][x + offset] = getMaxMin(localSAD, DSR, 0) * 16; //0 means return minimum indexcvResetImageROI(greyLeftImg32);}//xif (y % 10 == 0)cout << "row=" << y << " of " << height << endl;}//ycvReleaseImage(&winImg);//cvReleaseImage(&rightWinImg);return disparity;
}int main(int argc, char * const argv[])
{cout << "Sum of Absolute Difference(SAD) Strereo Vision" << endl;//**********image input*********************// char* filename1 = "L.png";//im2_cone.pngIplImage* greyLeftImg = cvLoadImage(filename1, 0);char* filename2 = "R.png";IplImage* greyRightImg = cvLoadImage(filename2, 0);if (greyLeftImg == NULL){ cout << "No valid image input." << endl; return 1; }if (greyRightImg == NULL){ cout << "No valid image input." << endl; return 1; }int width = greyLeftImg->width;int height = greyLeftImg->height;/****************8U to 32F**********************/IplImage* greyLeftImg32 = cvCreateImage(cvSize(width, height), 32, 1);//IPL_DEPTH_32FIplImage* greyRightImg32 = cvCreateImage(cvSize(width, height), 32, 1);cvConvertScale(greyLeftImg, greyLeftImg32, 1 / 255.);cvConvertScale(greyRightImg, greyRightImg32, 1 / 255.);//1/255. equals to 1/255.0//-------------obtain disparity image----------------time_t tstart, tend;tstart = time(0);int windowSize = 13, DSR = 20;//Disparity Search RangeIplImage* disparity32 = generateDisparityImage(greyLeftImg32, greyRightImg32, windowSize, DSR);tend = time(0);cout << "It took " << difftime(tend, tstart) << " second(s)." << endl;displayImageNewWindow("Dispairty Image", disparity32);displayImageNewWindow("Left Image", greyLeftImg32);displayImageNewWindow("Right Image", greyRightImg32);//********destroy window************/cvWaitKey(0);cvReleaseImage(&greyLeftImg32);cvReleaseImage(&greyRightImg32);cvReleaseImage(&greyLeftImg);cvReleaseImage(&greyRightImg);cvReleaseImage(&disparity32);cvDestroyWindow("Left Image");cvDestroyWindow("Right Image");cvDestroyWindow("Dispairty Image");return 0;
}