天天向上

#include "stdafx.h"

#include <core\core.hpp>

#include <calib3d\calib3d.hpp>

#include <highgui\highgui.hpp>

#include <imgproc\imgproc.hpp>

#include <contrib\contrib.hpp>

using namespace cv;

using namespace std;

int _tmain(int argc, _TCHAR* argv[])

{

    Mat img1, img2, g1, g2;

    Mat disp, disp1, disp2;

    img1 = imread("tsukuba1.jpg");

    img2 = imread("tsukuba2.jpg");

    cvtColor(img1, g1, CV_BGR2GRAY);

    cvtColor(img2, g2, CV_BGR2GRAY);

    //-----------------------------------------------------------

    StereoBM sbm;

    sbm.state->SADWindowSize = 5;

    sbm.state->numberOfDisparities = 112;

    sbm.state->preFilterSize = 5;

    sbm.state->preFilterCap = 61;

    sbm.state->minDisparity = -39;

    sbm.state->textureThreshold = 507;

    sbm.state->uniquenessRatio = 0;

    sbm.state->speckleWindowSize = 0;

    sbm.state->speckleRange = 8;

    sbm.state->disp12MaxDiff = 1;

    sbm(g1, g2, disp);

    normalize(disp, disp1, 0, 255, CV_MINMAX, CV_8U);

    StereoSGBM sgbm;

    sgbm.SADWindowSize = 5;

    sgbm.numberOfDisparities = 192;

    sgbm.preFilterCap = 4;

    sgbm.minDisparity = -64;

    sgbm.uniquenessRatio = 1;

    sgbm.speckleWindowSize = 150;

    sgbm.speckleRange = 2;

    sgbm.disp12MaxDiff = 10;

    sgbm.fullDP = false;

    sgbm.P1 = 600;

    sgbm(g1, g2, disp);

    normalize(disp, disp2, 0, 255, CV_MINMAX, CV_8U);sgbm.P2 = 2400;

    imshow("left", img1);

    imshow("right", img2);

    imshow("disp1", disp1);

    imshow("disp2", disp2);

    cvWaitKey();

    return 0;

}