#include?
#include?
#include?
#include??

#include?“cv.h“
#include?“highgui.h“

//?#define?IMGHEIGHT?240
//?#define?IMGWIDTH??320

int?IMGHEIGHT;
int?IMGWIDTH;

#define?DOMAIN????128
#define?WndWidth??9
#define?CODEWIDTH?80

typedef?struct
{
	int?codebit[80];
}CodeStruct;

void?SAD（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?SSD（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?NCC（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?NSSD（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?Census（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?Rank（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）;
void?CensusTransform（unsigned?char?*Image?CodeStruct?Code[]）;
int?HammingDist（?CodeStruct?Code1?CodeStruct?Code2?）;
void?RankTransform（unsigned?char?*Image?unsigned?char?*RankValue）;


void?SAD（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）
{
	int?ijd;
	int?absDiff;
	int?minSum;
	int?disp;
	int?*Col;
	int?*Wnd;

	Col?=?new?int[IMGWIDTH*DOMAIN];
	Wnd?=?new?int[IMGWIDTH*DOMAIN];

	for（?i=0;?i	{
		Col[i]=0;
		Wnd[i]=0;
	}

	for（?j=0;?j	{
		for（?i=0;?i		{
			minSum=100000;
			disp=0;
			for（?d=0;?d			{
				if（?i>=DOMAIN?）
					absDiff=abs（LeftImg[j*IMGWIDTH+i]-RightImg[j*IMGWIDTH+i-d]）;
				else
					absDiff=0;

				Col[i*DOMAIN+d]=Col[i*DOMAIN+d]+absDiff;

				if（?j>WndWidth?）
				{
					if（?i>DOMAIN?）
						absDiff=abs（LeftImg[（j-WndWidth）*IMGWIDTH+i]-RightImg[（j-WndWidth）*IMGWIDTH+i-d]）;
					else
						absDiff=0;
					Col[i*DOMAIN+d]=Col[i*DOMAIN+d]-absDiff;
				}

				if（?i					Wnd[i*DOMAIN+d]=0;
				else
					Wnd[i*DOMAIN+d]=Wnd[（i-1）*DOMAIN+d]+Col[i*DOMAIN+d]
									-Col[（i-WndWidth）*DOMAIN+d];

		/*
				if（?i>WndWidth?）
					Wnd[i*DOMAIN+d]=Wnd[（i-1）*DOMAIN+d]+Col[i*DOMAIN+d]-Col[（i-WndWidth）*DOMAIN+d];
				else?
				{
					if（?i>d?）
						absDiff=abs（LeftImg[j*IMGWIDTH+i]-RightImg[j*IMGWIDTH+i-d]）;
					else
						absDiff=0;

					Wnd[i*DOMAIN+d]=Wnd[i*DOMAIN+d]+absDiff;
					if（?j>WndWidth?）
					{
						if（?i>d?）
							absDiff=abs（LeftImg[（j-WndWidth）*IMGWIDTH+i]-RightImg[（j-WndWidth）*IMGWIDTH+i-d]）;
						else
							absDiff=0;
						Wnd[i*DOMAIN+d]=Wnd[i*DOMAIN+d]-absDiff;	
					}
				}
		*/
				if（?Wnd[i*DOMAIN+d]				{
					minSum=Wnd[i*DOMAIN+d];
					disp=d*15;
				}

			}

			if（?j>WndWidth?&&?i>DOMAIN?）
				Disparity[?j?*?IMGWIDTH+?i]=disp;

		}

	}

	delete?[]Col;
	delete?[]Wnd;

}

void?SSD（unsigned?char?*LeftImg?unsigned?char?*RightImg?unsigned?char?*Disparity）
{
	int?ijd;
	int?minSum;
	int?sqDiff;
	int?disp;
	int?*Col;
	int?*Wnd;

	Col?=?new?int[