//*************************Census*********************
#include?
#include?
#include?
#include?

using?namespace?std;
using?namespace?cv;

//-------------------定義漢明距離----------------------------
int?disparity;
int?GetHammingWeight（uchar?value）;//求1的個數

//-------------------定義Census處理圖像函數---------------------
int?hWind?=?1;//定義窗口大小為（2*hWind+1）
Mat?ProcessImg（Mat?&Img）;//將矩形內的像素與中心像素相比較，將結果存于中心像素中
Mat?Img_census?Left_census?Right_census;

//--------------------得到Disparity圖像------------------------
Mat?getDisparity（Mat?&left?Mat?&right）;

//--------------------處理Disparity圖像-----------------------
Mat?ProcessDisparity（Mat?&disImg）;

int?ImgHeight?ImgWidth;

//int?num?=?0;//異或得到的海明距離
Mat?LeftImg?RightImg;
Mat?DisparityImg（ImgHeight?ImgWidth?CV_8UC1?Scalar::all（0））;
Mat?DisparityImg_Processed（ImgHeight?ImgWidth?CV_8UC1?Scalar::all（0））;
Mat?DisparityImg_Processed_2（ImgHeight?ImgWidth?CV_8UC1）;


int?main（）
{
????LeftImg?=?imread（“E:/視覺測量工程/立體匹配算法改進/測試圖片/stereo-pairs/cones/imL.png“?0）;
????RightImg?=?imread（“E:/視覺測量工程/立體匹配算法改進/測試圖片/stereo-pairs/cones/imR.png“?0）;
???//?namedWindow（“renwu_left“?1）;
???//?namedWindow（“renwu_right“?1）;
???//?imshow（“renwu_left“?LeftImg）;
????//waitKey（5）;
???//?imshow（“renwu_right“?RightImg）;
??//??waitKey（5）;
????ImgHeight?=?LeftImg.rows;
????ImgWidth?=?LeftImg.cols;

????Left_census=?ProcessImg（LeftImg）;//處理左圖，得到左圖的CENSUS圖像?Left_census
???//?namedWindow（“Left_census“?1）;
????//imshow（“Left_census“?Left_census）;
????waitKey（5）;
//??imwrite（save_dir?+?“renwu_left.jpg“?Left_census）;

????Right_census=?ProcessImg（RightImg）;
????namedWindow（“Right_census“?1）;
????imshow（“Right_census“?Right_census）;
????waitKey（5）;
//??imwrite（save_dir??+?“renwu_right.jpg“?Right_census）;

????DisparityImg=?getDisparity（Left_census?Right_census）;
????namedWindow（“Disparity“?1）;
????imshow（“Disparity“?DisparityImg）;
//??imwrite（save_dir??+?“disparity.jpg“?DisparityImg）;
????waitKey（5）;

	//視差優化
????DisparityImg_Processed?=?ProcessDisparity（DisparityImg）;
????namedWindow（“DisparityImg_Processed“?1）;
????imshow（“DisparityImg_Processed“?DisparityImg_Processed）;
//??imwrite（save_dir?+?“disparity_processed.jpg“?DisparityImg_Processed）;
????waitKey（0）;
????return?0;
}


//-----------------------對圖像進行census編碼---------------
Mat?ProcessImg（Mat?&Img）
{
????int64?start?end;
????start?=?getTickCount（）;

????Mat?Img_census?=?Mat（Img.rows?Img.cols?CV_8UC1?Scalar::all（0））;
????uchar?center?=?0;

????for?（int?i?=?0;?i?????{
????????for?（int?j?=?0;?j?????????{
????????????center?=?Img.at（i?+?hWind?j?+?hWind）;//獲取像素灰度信息數值
????????????uchar?census?=?0;
????????????uchar?neighbor?=?0;
????????????for?（int?p?=?i;?p?<=?i?+?2?*?hWind;?p++）//行
????????????{
????????????????for?（int?q?=?j;?q?<=?j?+?2?*?hWind;?q++）//

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-11-12?19:40??傳統census立體匹配算法\
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\.vs\
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\.vs\傳統census立體匹配算法\
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\.vs\傳統census立體匹配算法\v14\
?????文件???????29696??2019-11-12?19:40??傳統census立體匹配算法\.vs\傳統census立體匹配算法\v14\.suo
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\Debug\
?????目錄???????????0??2019-10-20?21:09??傳統census立體匹配算法\photo\
?????目錄???????????0??2019-10-20?20:03??傳統census立體匹配算法\x64\
?????目錄???????????0??2019-10-27?17:30??傳統census立體匹配算法\x64\Debug\
?????文件???????91136??2019-11-11?11:07??傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.exe
?????文件??????787288??2019-11-11?11:07??傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.ilk
?????文件?????1585152??2019-11-11?11:07??傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.pdb
?????目錄???????????0??2019-11-11?08:40??傳統census立體匹配算法\傳統census立體匹配算法\
?????文件????18808832??2019-11-12?19:40??傳統census立體匹配算法\傳統census立體匹配算法.sdf
?????文件????????1372??2019-10-20?18:16??傳統census立體匹配算法\傳統census立體匹配算法.sln
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\傳統census立體匹配算法\Debug\
?????目錄???????????0??2019-10-20?18:16??傳統census立體匹配算法\傳統census立體匹配算法\Debug\傳統census立體匹配算法.tlog\
?????文件??????126225??2019-10-24?08:44??傳統census立體匹配算法\傳統census立體匹配算法\depth.jpg
?????文件????????6626??2019-11-11?08:40??傳統census立體匹配算法\傳統census立體匹配算法\main.cpp
?????文件??????156181??2019-10-24?08:44??傳統census立體匹配算法\傳統census立體匹配算法\matchLevel.jpg
?????目錄???????????0??2019-10-20?20:03??傳統census立體匹配算法\傳統census立體匹配算法\x64\
?????目錄???????????0??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\
?????文件??????168360??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\main.obj
?????文件??????576512??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\vc140.idb
?????文件?????1069056??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\vc140.pdb
?????文件????????1657??2019-10-27?17:30??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.Build.CppClean.log
?????文件????????3707??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.log
?????目錄???????????0??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.tlog\
?????文件?????????626??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.tlog\CL.command.1.tlog
?????文件???????18644??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.tlog\CL.read.1.tlog
?????文件?????????508??2019-11-11?11:07??傳統census立體匹配算法\傳統census立體匹配算法\x64\Debug\傳統census立體匹配算法.tlog\CL.write.1.tlog
............此處省略8個文件信息