基于Opencv的几种立体匹配算法+ELAS.docVIP

基于Opencv的几种立体匹配算法+ELAS 0：ELAS 这里要去下载Elas的开源库函数。 int StereoMatch::ElasMatch() { cv::Mat disp_l,disp_r,disp8u_l,disp8u_r; double minVal; double maxVal; //视差图的极值 cv::Mat leftImage = cv::imread(../test_images/leftr31.png,0); cv::Mat rightImage = cv::imread(../test_images/rightr31.png,0); // 计算视差 // generate disparity image using LIBELAS int bd = 0; const int32_t dims[3] = {leftImage.cols,leftImage.rows,leftImage.cols}; cv::Mat leftdpf = cv::Mat::zeros(cv::Size(leftImage.cols,leftImage.rows), CV_32F); cv::Mat rightdpf = cv::Mat::zeros(cv::Size(leftImage.cols,leftImage.rows), CV_32F); Elas::parameters param; param.postprocess_only_left = false; Elas elas(param); cess(leftImage.data,rightImage.data,leftdpf.ptrfloat(0),rightdpf.ptrfloat(0),dims); cv::Mat(leftdpf(cv::Rect(bd,0,leftImage.cols,leftImage.rows))).copyTo(disp_l); cv::Mat(rightdpf(cv::Rect(bd,0,rightImage.cols,rightImage.rows))).copyTo(disp_r); //-- Check its extreme values cv::minMaxLoc( disp_l, minVal, maxVal ); coutMin disp: Max value minValmaxVal; //numberOfDisparities.= (maxVal - minVal) //-- Display it as a CV_8UC1 image disp_l.convertTo(disp8u_l, CV_8U, 255/(maxVal - minVal));//(numberOfDisparities*16.) cv::minMaxLoc( disp_r, minVal, maxVal ); coutMin disp: Max value minValmaxVal; //numberOfDisparities.= (maxVal - minVal) //-- Display it as a CV_8UC1 image disp_r.convertTo(disp8u_r, CV_8U, 255/(maxVal - minVal));//(numberOfDisparities*16.) cv::normalize(disp8u_l, disp8u_l, 0, 255, CV_MINMAX, CV_8UC1); // obtain normalized image cv::normalize(disp8u_r, disp8u_r, 0, 255, CV_MINMAX, CV_8UC1); // obtain normalized image cv::imshow(Left,leftImage); cv::imshow(Right,rightImage); cv::imshow(Elas_left,disp8u_l); cv::imshow(Elas_right,disp8u_r); cv::imwrite(Elas_left.png,disp8u_l); cv::imwrite(Elas_right.png,disp8u_r); coutendlOverendl; cv::waitK