#include?“cv.h“
#include?“highgui.h“
#include?
#include?
#include?

int?SAD（IplImage?*image1IplImage*image2int?x1int?x2int?y12int?WindowSize）
{
	//H_CHECK（CV_ARE_SIZES_EQ（image1image2））;
	int?W=image1->widthH=image1->height;
	//?????H_CHECK（x1>=WindowSize?&&?x1	//?????????&&x2>=WindowSize?&&?x2	//?????????&&y12>=WindowSize?&&?y12	//?????????）;
	
	int?dxdy;
	int?sum=0;
	for?（dy=-WindowSize;dy<=WindowSize;dy++）
	{
		LPBYTE?p1=&CV_IMAGE_ELEM（image1BYTEy12+dyx1-WindowSize）;
		LPBYTE?p2=&CV_IMAGE_ELEM（image2BYTEy12+dyx2-WindowSize）;
		for?（dx=-WindowSize;dx<=WindowSize;dx++）
		{
			sum+=abs（*p1-*p2）;
			p1++;
			p2++;
		}
	}
	
	return?sum;
}
int?GetDisparitySAD（IplImage?*image1IplImage*image2int?xint?yint?WindowSizeint?maxDX）
{
	//H_CHECK（x-maxDX-WindowSize?>=0?&&?x+WindowSizewidth?）;
	int?x2i;
	int?sadMin=99999dispBest=0;
	for（i=1;i	{
		x2=x-i;
		int?sad=SAD（image1image2xx2yWindowSize）;
		if（sadMin?>sad）
		{
			sadMin=sad;
			dispBest=i;
		}
	}
	
	return?dispBest;
}

int?GetDisparitySAD_Reverse（IplImage?*image1IplImage*image2int?xrint?yint?WindowSizeint?maxDX）
{
	//H_CHECK（x-maxDX-WindowSize?>=0?&&?x+WindowSizewidth?）;
	int?xli;
	int?sadMin=99999dispBest=0;
	for（i=1;i	{
		xl=xr+i;
		int?sad=SAD（image1image2xlxryWindowSize）;
		if（sadMin?>sad）
		{
			sadMin=sad;
			dispBest=i;
		}
	}
	
	return?dispBest;
?}

int?main（int?argcchar**?argv）
{

	IplImage?*left*right*depthmap;
	if（argc!=4）
	{
		printf（“Error!?\n“）;
		printf（“usage?mysad?（left.bmp）?（right.bmp）?（result.bmp）“）;
		return?-1;
	}
	double?tt?=?（double）cvGetTickCount（）;
	left=cvLoadImage（argv[1]CV_LOAD_IMAGE_GRAYSCALE）;
	right=cvLoadImage（argv[2]CV_LOAD_IMAGE_GRAYSCALE）;
????cvNamedWindow（“left?image“1）;
	cvNamedWindow（“right?image“1）;
	cvShowImage（“left?image“left）;
????cvShowImage（“right?image“right）;
	depthmap=cvCreateImage（cvGetSize（left）IPL_DEPTH_8U1）;
	
????int?W=left->widthH=left->height;
????int?windowSize=4;
????int?MaxDispX=20;
????int?xy;
????int?Scale=255/MaxDispX;
	printf（“圖像大小%d*%d最大視差%d窗口大小%d“WHMaxDispXwindowSize）;
	for?（y=windowSize;y????{
????????for?（x=windowSize;x????????{
			
????????????int?disp=GetDisparitySAD（leftrightxywindowSizeMaxDispX）;
????????????//CV_IMAGE_ELEM（imageDisp.m_IplImageBYTEyx）=disp*Scale;
????????????if（disp?&&?abs（disp-GetDisparitySAD_Reverse（leftrightx-dispywindowSizeMaxDispX））<5）
????????????????（（uchar*）（depthmap->imageData+y*depthmap->widthStep））[x]=disp*Scale;
?????????????//（（uchar*?）（DepthMap->imageData+DispMap[i].y*DepthMap->widthStep））[DispMap[i].x]=t2;
		}
???????//?TRACE（“y?%d“y）;
????}
	tt?=?（double）cvGetTickCount（）?-?tt;
????printf（?“Extraction?time?=?%gms\n“?tt/（cvGetTickFrequency（）*1000.））;
	cvNamedWindow（“depth“1）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????111670??2009-05-04?23:09??mySad\Debug\9.bmp

?????文件?????389120??2008-04-14?08:12??mySad\Debug\cmd.exe

?????文件?????111670??2009-05-04?18:52??mySad\Debug\depth.bmp

?????文件?????331830??2009-04-27?11:03??mySad\Debug\left.bmp

?????文件????2130944??2009-05-04?18:35??mySad\Debug\mySad.bsc

?????文件?????188468??2009-05-05?10:39??mySad\Debug\mySad.exe

?????文件?????205388??2009-05-05?10:39??mySad\Debug\mySad.ilk

?????文件????4136268??2009-05-04?18:40??mySad\Debug\mySad.pch

?????文件?????451584??2009-05-05?10:39??mySad\Debug\mySad.pdb

?????文件?????111670??2009-05-04?23:07??mySad\Debug\new.bmp

?????文件?????111670??2009-05-05?15:31??mySad\Debug\res.bmp

?????文件?????111670??2009-05-04?18:46??mySad\Debug\result.bmp

?????文件?????331830??2009-04-27?11:04??mySad\Debug\right.bmp

?????文件??????18954??2009-05-05?10:39??mySad\Debug\sad.obj

?????文件????1059043??2009-05-04?18:37??mySad\Debug\sad.sbr

?????文件?????164864??2009-05-05?10:39??mySad\Debug\vc60.idb

?????文件?????102400??2009-05-05?10:39??mySad\Debug\vc60.pdb

?????文件???????4098??2009-05-04?18:53??mySad\mySad.dsp

?????文件????????533??2009-05-04?18:08??mySad\mySad.dsw

?????文件??????41984??2009-05-05?10:40??mySad\mySad.ncb

?????文件??????48640??2009-05-05?10:40??mySad\mySad.opt

?????文件???????1119??2009-05-05?10:39??mySad\mySad.plg

?????文件???????3290??2009-05-04?23:12??mySad\sad.cpp

?????目錄??????????0??2009-05-05?15:31??mySad\Debug

?????目錄??????????0??2009-05-05?10:40??mySad

-----------?---------??----------?-----??----

?????????????10168707????????????????????25