立体匹配：关于Middlebury提供的源码的简化使用

Middlebury提供的源码，虽然花了不到一个小时就运行起来啦。但说实话，它那循环读取脚本命令来执行算法真是让我费了不少头脑，花了近三天时间，我才弄明白了它的运行机制。你说，我就想提取一下算法，你给我整这么多圈子干啥。于是，在我明白了它的运行机制以后，就将无关的代码通通咔嚓了。剩下了最重要的两个类。

以下是我的操作过程。

1.1

新建解决方案SolutionXYZ、工程ExecutionXYZ及TestData目录。

为工程配置OpenCV库、pnglib库及jpeglib库

对VS2013还需要在C/C++->Preprocessor->Preprocessor Definitions中添加指令_CRT_SECURE_NO_WARNINGS

添加本人的CCC目录到工程内，没有则不用添加。

1.2

将<MiddEval3-SDK-1.6.zip>中的MiddEval3\code路径下的imageLib目录解压到工程内

将imageLib中Error.h文件中的snprintf改为_snprintf方可

1.3

将<StereoMatch_1_0.exe>中的StereoMatch目录解压到工程内。

删除StereoMatch目录下的StereoMatch.dsp、StereoMatch.dsw、License.txt、Makefile、README-StereoMatch.txt。

删除StereoMatch目录下的Convert.cpp、Convert.h、Convolve.h、Convolve.cpp、Copyright.h、Error.h、Image.cpp、Image.h、ImageIO.cpp、ImageIO.h、RefCntMem.cpp、RefCntMem.h、main.cpp、StereoIO.h、StereoIO.cpp、Verbose.h、ParameterIO.cpp、ParameterIO.h

1.4

将<Stereo-patch.zip>内的StcEvaluate.cpp解压到StereoMatch目录内覆盖原有文件

将<LASW.zip>内除Makefile文件外的所有文件解压到StereoMatch目录内覆盖原有文件

将<bp-extensions.tgz>内的StcOptBPSync.cpp, StcOptBP.cpp, node.h, node.cpp, bpregions.h, bpregions.cpp解压到StereoMatch目录内覆盖原有文件

将StereoMatch目录内的所有文件都打开并保存一遍。

在StereoMatcher.h中添加

void OptBP();

void OptBPSync();

在StereoParameters.h的eSymmetric =6,后添加

eBPSync = 7,

eBPAccel = 8,

在StcOptimize.cpp的opt_fn == eSimulAnnl的添加

||opt_fn == eBPAccel||opt_fn == eBPSync

在StcOptimize.cpp的OptSymmetric();break;的添加

case eBPAccel:

OptBP(); // run the optimization

break;

case eBPSync:

OptBPSync(); // run the optimization

break;

1.5

将所有StereoMatch目录中的所有文件中的"Image.h"改为"./../imageLib/Image.h"

将所有StereoMatch目录中的所有文件中的"Error.h"改为"./../imageLib/Error.h"

将所有StereoMatch目录中的所有文件中的"Convert.h"改为"./../imageLib/Convert.h"

将所有StereoMatch目录中的所有文件中的"ImageIO.h"改为"./../imageLib/ImageIO.h"

将所有StereoMatch目录中的所有文件中的"Convolve.h"改为"./../imageLib/Convolve.h"

将所有StereoMatch目录中的所有文件中的所有#include "ParameterIO.h"及#include "Verbose.h"都删除

将所有类的protected成员改为public成员

暂且注释掉parser_flg.c中的所有代码

由vs2010和2013仍不支持const常量作为数组维数，所以BP算法还没法使用。为编译成功，将bpregions.cpp和node.cpp全部注释，将StcOptBP.cpp和StcOptBPSync.cpp中的相应函数的函数体注释。

1.6

在StereoParameters.h中添加如下代码：

enum EVerbosityLevel

{

eVerboseQuiet = 0, // no output except for errors

eVerboseWarning = 1, // include warning messages

eVerboseSummary = 2, // print brief summary of algorithm and result

eVerboseProgress = 3, // report progress through steps of algorithm

eVerboseFileIO = 4, // report reading and writing of files

eVerboseTiming = 5, // print timing information

eVerbosePredictionError = 6, // print prediction error for all frames

eVerboseScriptFile = 10, // echo commands from script file

eVerboseInnerLoops = 15, // show inner iterations

eVerboseDumpFiles = 25, // dump intermediate results as image files

eVerboseAllMessages = 99 // include all information

};

enum EStereoMatchStatus

{ // Match status computed by symmetric matcher (values in m_status)

eUnknownMatch = 0,

eCertainMatch = 1,

eAmbiguousMatch = 2,

eOccludedMatch = 3,

};

struct CStereoFrame

{ // An input image and its associated meta-data (depth map, ground truth, ...):

CByteImage input_image; // input image (gray or color)

CByteImage depth_image; // depth image (input/output)

CByteImage truth_image; // ground truth depth image

CByteImage resampled_image; // resampled image (for reprojection error)

float predict_err; // prediction error (visible pixels)

float predict_visible; // fraction of pixels visible

};

将StereoMatcher.h中的enum EstereoMatchStatus{…}和struct CstereoFrame{…}删除

将StereoParameters.h中代码void PIOInitialize(CParameterIO& prw)删除或注释

将StereoParameters.cpp中代码void PIOInitialize(CParameterIO& prw){…}删除或注释

将StereoParameters.cpp代码都加到StereoParameters.h中并删除StereoParameters.cpp

1.7

可选操作。

将所有Stc**.cpp中的”./../imageLib/***.h”，并补加这些头文件到”StereoMatcher.h”文件中

将StereoMatcher.cpp中代码全部转移到StereoMatcher.h中后将其删除

对文件编号：

1.1StcPreProcess.cpp

1.2StcRawCosts.cpp

1.3StcAggregate.cpp

1.4StcOptimize.cpp

1.5StcRefine.cpp

1.6StcEvaluate.cpp

2.1StcDiffusion.cpp

2.2LASW.cpp

2.2LASW.h

3.1StcOptDP.cpp

3.2StcOptSO.cpp

3.3StcSimulAnn.cpp

3.4StcGraphCut.cpp

编译出错时再对头文件名进行更改。

1.8

在TestData目录内新建目录：map, sawtooth, venus。然后将< imagedirs.zip>中对应目录内的imx.pgm, imy.pgm, dispx.pgm, dispy.pgm文件复制过来，并都统一命名为：im0.pgm, im1.pgm, disp0.pgm, disp1.pgm

1.9

接下就是实现<Scripts.zip>、<LASWscripts.zip>及<bp-extensions.zip>中的exp7_bps.txt和exp8_bpa.txt的功能。

添加scripts.h和main.cpp

#include "CCC/COMCV.h"
#include "StereoMatch/StereoMatcher.h"
#include <fstream>
#include <iomanip>

//输出参数
void writeParams(CStereoMatcher &s, string &path)
{
    ofstream out(path);
    out << "preproc_addnoise_stddev " << s.preproc_addnoise_stddev;//0.000000

    out << endl << "disp_step " << s.disp_step;//1.000000

    out << endl << "disp_scale " << s.disp_scale;//8.000000

    out << endl << "diff_lambda " << s.diff_lambda;//0.150000
    out << endl << "diff_beta " << s.diff_beta;//0.500000
    out << endl << "diff_scale_cost " << s.diff_scale_cost;//0.010000
    out << endl << "diff_mu " << s.diff_mu;//0.500000
    out << endl << "diff_sigmaP " << s.diff_sigmaP;//0.400000
    out << endl << "diff_epsP " << s.diff_epsP;//0.010000

    out << endl << "aggr_gamma_proximity " << s.aggr_gamma_proximity;// 5.500000
    out << endl << "aggr_gamma_similarity " << s.aggr_gamma_similarity;// 5.000000

    out << endl << "opt_smoothness " << s.opt_smoothness;//1.000000
    out << endl << "opt_grad_thresh " << s.opt_grad_thresh;//5.000000
    out << endl << "opt_grad_penalty " << s.opt_grad_penalty;//1.000000

    out << endl << "opt_sa_start_T " << s.opt_sa_start_T;//10.000000
    out << endl << "opt_sa_end_T " << s.opt_sa_end_T;//0.010000

    out << endl << "opt_min_margin " << s.opt_min_margin;//0.700000

    out << endl << "eval_bad_thresh " << s.eval_bad_thresh;//1.000000
    out << endl << "eval_error_scale " << s.eval_error_scale;//0.000000

    out << endl << "eval_disp_gap " << s.eval_disp_gap;//2.000000

    out << endl << "eval_textureless_thresh " << s.eval_textureless_thresh;//4.000000

    )<< s.eval_empty_color;//0x00ffc0ff
    out << endl << "eval_partial_shuffle " << s.eval_partial_shuffle;//0.000000

    out << endl << "rms_error_all" << s.rms_error_all;
    out << endl << "rms_error_nonocc " << s.rms_error_nonocc;//1.898849
    out << endl << "rms_error_occ " << s.rms_error_occ;//17.536930
    out << endl << "rms_error_textured " << s.rms_error_textured;//1.895457
    out << endl << "rms_error_textureless " << s.rms_error_textureless;//2.254724
    out << endl << "rms_error_discont " << s.rms_error_discont;//6.221545
    out << endl << "bad_pixels_all " << s.bad_pixels_all;//0.074057
    out << endl << "bad_pixels_nonocc " << s.bad_pixels_nonocc;//0.017140
    out << endl << "bad_pixels_occ " << s.bad_pixels_occ;//0.971484
    out << endl << "bad_pixels_textured " << s.bad_pixels_textured;//0.016978
    out << endl << "bad_pixels_textureless " << s.bad_pixels_textureless;//0.035714
    out << endl << "bad_pixels_discont " << s.bad_pixels_discont;//0.114071
    out << endl << "fraction_matched " << s.fraction_matched;//0.100000
    out << endl << "predict_err_near " << s.predict_err_near;//-;//1.000000
    out << endl << "predict_err_middle " << s.predict_err_middle;//-;//1.000000
    out << endl << "predict_err_match " << s.predict_err_match;//-;//1.000000
    out << endl << "predict_err_far " << s.predict_err_far;//-;//1.000000
    out << endl << "final_energy " << s.final_energy;//611911.437500
    out << endl << "total_time " << s.total_time;//1.681000

    out.close();
}

//相同参数
void comParam(CStereoMatcher &s)
{
    s.verbose = eVerboseSummary;
    s.evaluate_only = s.evaluate_only;
    s.frame_ref = ;
    s.frame_match = ;
    s.eval_predict_type = ePredictNone;
    s.eval_error_scale = ;
    s.disp_min = ;
    s.disp_scale = ;
    s.eval_disp_gap = ;
    s.eval_ignore_border = ;
}

//与目录相关的参数
void dirParam(CStereoMatcher &s, string &dir)
{
    string im0path, im1path, trupath;
    cout << endl << dir.substr(dir.find_last_of();
    ) == "map")
    {
        s.disp_max = ;
        im0path = dir + "/im0.pgm";
        im1path = dir + "/im1.pgm";
        trupath = dir + "/disp0.pgm";
    }
    ) == "sawtooth")
    {
        s.disp_max = ;
        im0path = dir + "/im0.ppm";
        im1path = dir + "/im1.ppm";
        trupath = dir + "/disp0.pgm";
    }
    ) == "venus")
    {
        s.disp_max = ;
        im0path = dir + "/im0.ppm";
        im1path = dir + "/im1.ppm";
        trupath = dir + "/disp0.pgm";
    }
    CStereoFrame fr0, fr1;
    ReadImage(fr0.input_image, im0path.c_str());
    ReadImage(fr1.input_image, im1path.c_str());
    ReadImage(fr0.truth_image, trupath.c_str());
    s.m_frame.push_back(fr0);
    s.m_frame.push_back(fr1);
}

//测试方案一
void costSSD9(CStereoMatcher &s, string &dir)
{
    //0.此函数内的公共设置
    s.aggr_window_size = ;
    s.aggr_minfilter = ;
    ] = { , , , , , ,  };

    //1.测试一
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SAD09.pgm", dir + "/SAD09t50.pgm", dir + "/SAD09t20.pgm", dir + "/SAD09t10.pgm", dir + "/SAD09t05.pgm", dir + "/SAD09t02.pgm", dir + "/SAD09t01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out1[i].c_str());
        writeParams(s,out1[i].substr(, out1[i].find_last_of(".")) + ".txt");
        ;
    }
    //2.测试二
    s.match_fn = eSD;
    s.match_interval = ;
    ] = { dir + "/SSD09.pgm", dir + "/SSD09t50.pgm", dir + "/SSD09t20.pgm", dir + "/SSD09t10.pgm", dir + "/SSD09t05.pgm", dir + "/SSD09t02.pgm", dir + "/SSD09t01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out2[i].c_str());
        writeParams(s, out2[i].substr(, out2[i].find_last_of(".")) + ".txt");
    }
    //3.测试三
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SAD09b.pgm", dir + "/SAD09bt50.pgm", dir + "/SAD09bt20.pgm", dir + "/SAD09bt10.pgm", dir + "/SAD09bt05.pgm", dir + "/SAD09bt02.pgm", dir + "/SAD09bt01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out3[i].c_str());
        writeParams(s, out3[i].substr(, out3[i].find_last_of(".")) + ".txt");
    }
    //4.测试四
    s.match_fn = eSD;
    s.match_interval = ;
    ] = { dir + "/SSD09b.pgm", dir + "/SSD09bt50.pgm", dir + "/SSD09bt20.pgm", dir + "/SSD09bt10.pgm", dir + "/SSD09bt05.pgm", dir + "/SSD09bt02.pgm", dir + "/SSD09bt01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out4[i].c_str());
        writeParams(s, out4[i].substr(, out4[i].find_last_of(".")) + ".txt");
    }
}

//测试方案二
void costSSDMF9(CStereoMatcher &s, string &dir)
{
    //0.此函数内的公共设置
    s.aggr_window_size = ;
    s.aggr_minfilter = ;
    ] = { , , , , , ,  };

    //1.测试一
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SADmf09.pgm", dir + "/SADmf09t50.pgm", dir + "/SADmf09t20.pgm", dir + "/SADmf09t10.pgm", dir + "/SADmf09t05.pgm", dir + "/SADmf09t02.pgm", dir + "/SADmf09t01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out1[i].c_str());
        writeParams(s, out1[i].substr(, out1[i].find_last_of(".")) + ".txt");
        ;
    }
    //2.测试二
    s.match_fn = eSD;
    s.match_interval = ;
    ] = { dir + "/SSDmf09.pgm", dir + "/SSDmf09t50.pgm", dir + "/SSDmf09t20.pgm", dir + "/SSDmf09t10.pgm", dir + "/SSDmf09t05.pgm", dir + "/SSDmf09t02.pgm", dir + "/SSDmf09t01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out2[i].c_str());
        writeParams(s, out2[i].substr(, out2[i].find_last_of(".")) + ".txt");
    }
    //3.测试三
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SADmf09b.pgm", dir + "/SADmf09bt50.pgm", dir + "/SADmf09bt20.pgm", dir + "/SADmf09bt10.pgm", dir + "/SADmf09bt05.pgm", dir + "/SADmf09bt02.pgm", dir + "/SADmf09bt01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out3[i].c_str());
        writeParams(s, out3[i].substr(, out3[i].find_last_of(".")) + ".txt");
    }
    //4.测试四
    s.match_fn = eSD;
    s.match_interval = ;
    ] = { dir + "/SSDmf09b.pgm", dir + "/SSDmf09bt50.pgm", dir + "/SSDmf09bt20.pgm", dir + "/SSDmf09bt10.pgm", dir + "/SSDmf09bt05.pgm", dir + "/SSDmf09bt02.pgm", dir + "/SSDmf09bt01.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out4[i].c_str());
        writeParams(s, out4[i].substr(, out4[i].find_last_of(".")) + ".txt");
    }
}

//测试方案三
void costGlobal(CStereoMatcher &s, string &dir)
{
    //0.此函数内的公共设置
    ] = { , , , , ,  };

    //1.DP测试
    s.aggr_iter = ;
    s.opt_fn = eDynamicProg;
    s.opt_occlusion_cost = ;
    s.opt_smoothness = ;
    //1.1
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/DPm1o20s0020.pgm", dir + "/DPm1o20s0020t50.pgm", dir + "/DPm1o20s0020t20.pgm", dir + "/DPm1o20s0020t10.pgm", dir + "/DPm1o20s0020t05.pgm", dir + "/DPm1o20s0020t02.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out11[i].c_str());
        writeParams(s, out11[i].substr(, out11[i].find_last_of(".")) + ".txt");
        ;
    }
    //1.2
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/DPm1o20s0020b.pgm", dir + "/DPm1o20s0020bt50.pgm", dir + "/DPm1o20s0020bt20.pgm", dir + "/DPm1o20s0020bt10.pgm", dir + "/DPm1o20s0020bt05.pgm", dir + "/DPm1o20s0020bt02.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out12[i].c_str());
        writeParams(s, out12[i].substr(, out12[i].find_last_of(".")) + ".txt");
    }

    //2.SO测试
    s.aggr_iter = ;
    s.opt_fn = eScanlineOpt;
    s.opt_smoothness = ;
    //2.1
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SOm1s0020.pgm", dir + "/SOm1s0020t50.pgm", dir + "/SOm1s0020t20.pgm", dir + "/SOm1s0020t10.pgm", dir + "/SOm1s0020t05.pgm", dir + "/SOm1s0020t02.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out21[i].c_str());
        writeParams(s, out21[i].substr(, out21[i].find_last_of(".")) + ".txt");
    }
    //2.2
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/SOm1s0020b.pgm", dir + "/SOm1s0020bt50.pgm", dir + "/SOm1s0020bt20.pgm", dir + "/SOm1s0020bt10.pgm", dir + "/SOm1s0020bt05.pgm", dir + "/SOm1s0020bt02.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out22[i].c_str());
        writeParams(s, out22[i].substr(, out22[i].find_last_of(".")) + ".txt");
    }

    //3.GC测试
    s.aggr_iter = ;
    s.opt_fn = eGraphCut;
    s.opt_smoothness = ;
    //3.1
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/GCm1s0020.pgm", dir + "/GCm1s0020t50.pgm", dir + "/GCm1s0020t20.pgm", dir + "/GCm1s0020t10.pgm", dir + "/GCm1s0020t05.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out31[i].c_str());
        writeParams(s, out31[i].substr(, out31[i].find_last_of(".")) + ".txt");
    }
    //3.2
    s.match_fn = eAD;
    s.match_interval = ;
    ] = { dir + "/GCm1s0020b.pgm", dir + "/GCm1s0020bt50.pgm", dir + "/GCm1s0020bt20.pgm", dir + "/GCm1s0020bt10.pgm", dir + "/GCm1s0020bt05.pgm" };
    ; i < ; i++)
    {
        s.match_max = match_max[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out32[i].c_str());
        writeParams(s, out32[i].substr(, out32[i].find_last_of(".")) + ".txt");
    }
}

//测试方案四
void aggr(CStereoMatcher &s, string &dir)
{
    //0.此函数内的公共设置
    s.match_fn = eAD;
    s.opt_fn = eWTA;

    //1.测试一
    s.aggr_fn = eBox;
    s.aggr_iter = ;
    s.aggr_minfilter = ;
    ] = { dir + "/SAD03.pgm", dir + "/SAD05.pgm", dir + "/SAD07.pgm", dir + "/SAD09.pgm", dir + "/SAD11.pgm", dir + "/SAD13.pgm", dir + "/SAD15.pgm", dir + "/SAD17.pgm", dir + "/SAD19.pgm", dir + "/SAD21.pgm", dir + "/SAD23.pgm", dir + "/SAD25.pgm", dir + "/SAD27.pgm", dir + "/SAD29.pgm" };
    ; i < ; i++)
    {
        s.aggr_window_size =  * i + ;
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out1[i].c_str());
        writeParams(s, out1[i].substr(, out1[i].find_last_of(".")) + ".txt");
        ;
    }

    //2.测试二
    s.aggr_fn = eBox;
    s.aggr_iter = ;
    ] = { dir + "/SADmf03.pgm", dir + "/SADmf05.pgm", dir + "/SADmf07.pgm", dir + "/SADmf09.pgm", dir + "/SADmf11.pgm", dir + "/SADmf13.pgm", dir + "/SADmf15.pgm", dir + "/SADmf17.pgm", dir + "/SADmf19.pgm", dir + "/SADmf21.pgm", dir + "/SADmf23.pgm", dir + "/SADmf25.pgm", dir + "/SADmf27.pgm", dir + "/SADmf29.pgm" };
    ; i < ; i++)
    {
        s.aggr_window_size =  * i + ;
        s.aggr_minfilter =  * i + ;
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out2[i].c_str());
        writeParams(s, out2[i].substr(, out2[i].find_last_of(".")) + ".txt");
        ;
    }

    //3.测试三
    s.aggr_fn = eBinomial;
    s.aggr_minfilter = ;
    ] = { dir + "/SADbf02.pgm", dir + "/SADbf04.pgm", dir + "/SADbf06.pgm", dir + "/SADbf08.pgm", dir + "/SADbf10.pgm", dir + "/SADbf12.pgm", dir + "/SADbf14.pgm", dir + "/SADbf16.pgm", dir + "/SADbf18.pgm", dir + "/SADbf20.pgm", dir + "/SADbf22.pgm", dir + "/SADbf24.pgm", dir + "/SADbf26.pgm", dir + "/SADbf28.pgm" };
    ; i < ; i++)
    {
        s.aggr_iter =  * i + ;
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out3[i].c_str());
        writeParams(s, out3[i].substr(, out3[i].find_last_of(".")) + ".txt");
    }

    //4.测试四
    s.aggr_fn = eDiffusion;
    s.aggr_minfilter = ;
    s.diff_lambda = 0.15;
    ] = { dir + "/SADdiff010.pgm", dir + "/SADdiff020.pgm", dir + "/SADdiff030.pgm", dir + "/SADdiff040.pgm", dir + "/SADdiff050.pgm", dir + "/SADdiff060.pgm", dir + "/SADdiff070.pgm", dir + "/SADdiff080.pgm", dir + "/SADdiff090.pgm", dir + "/SADdiff100.pgm", dir + "/SADdiff110.pgm", dir + "/SADdiff120.pgm", dir + "/SADdiff130.pgm", dir + "/SADdiff140.pgm", dir + "/SADdiff150.pgm" };
    ; i < ; i++)
    {
        s.aggr_iter =  * i + ;
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out4[i].c_str());
        writeParams(s, out4[i].substr(, out4[i].find_last_of(".")) + ".txt");
    }

    //5.测试五
    s.aggr_fn = eMembrane;
    s.aggr_minfilter = ;
    s.diff_lambda = 0.15;
    s.aggr_iter = ;
    ] = { dir + "/SADmemb09.pgm", dir + "/SADmemb08.pgm", dir + "/SADmemb07.pgm", dir + "/SADmemb06.pgm", dir + "/SADmemb05.pgm", dir + "/SADmemb04.pgm", dir + "/SADmemb03.pgm", dir + "/SADmemb02.pgm", dir + "/SADmemb01.pgm", dir + "/SADmemb00.pgm" };
    ; i < ; i++)
    {
        s.diff_beta = 0.9 - 0.1 * (float)i;
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out5[i].c_str());
        writeParams(s, out5[i].substr(, out5[i].find_last_of(".")) + ".txt");
    }
}

//测试方案五
void lambda(CStereoMatcher &s, string dir)
{
    //0.此函数内的公共设置
    ] = { , , , , , , ,  };

    //1.DP测试
    s.match_fn = eAD;
    s.aggr_iter = ;
    s.opt_fn = eDynamicProg;
    //1.1
    s.opt_occlusion_cost = ;
    ] = { dir + "/DPm1o20s0005.pgm", dir + "/DPm1o20s0010.pgm", dir + "/DPm1o20s0020.pgm", dir + "/DPm1o20s0050.pgm", dir + "/DPm1o20s0100.pgm", dir + "/DPm1o20s0200.pgm", dir + "/DPm1o20s0500.pgm", dir + "/DPm1o20s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out11[i].c_str());
        writeParams(s, out11[i].substr(, out11[i].find_last_of(".")) + ".txt");
        ;
    }
    //1.2
    s.opt_occlusion_cost = ;
    ] = { dir + "/DPm1o50s0005.pgm", dir + "/DPm1o50s0010.pgm", dir + "/DPm1o50s0020.pgm", dir + "/DPm1o50s0050.pgm", dir + "/DPm1o50s0100.pgm", dir + "/DPm1o50s0200.pgm", dir + "/DPm1o50s0500.pgm", dir + "/DPm1o50s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out12[i].c_str());
        writeParams(s, out12[i].substr(, out12[i].find_last_of(".")) + ".txt");
    }
    //1.3
    s.opt_occlusion_cost = ;
    ] = { dir + "/DPm1o80s0005.pgm", dir + "/DPm1o80s0010.pgm", dir + "/DPm1o80s0020.pgm", dir + "/DPm1o80s0050.pgm", dir + "/DPm1o80s0100.pgm", dir + "/DPm1o80s0200.pgm", dir + "/DPm1o80s0500.pgm", dir + "/DPm1o80s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out13[i].c_str());
        writeParams(s, out13[i].substr(, out13[i].find_last_of(".")) + ".txt");
    }

    //2.SO测试
    s.match_fn = eAD;
    s.aggr_iter = ;
    s.opt_fn = eScanlineOpt;
    ] = { dir + "/SOm1s0005.pgm", dir + "/SOm1s0010.pgm", dir + "/SOm1s0020.pgm", dir + "/SOm1s0050.pgm", dir + "/SOm1s0100.pgm", dir + "/SOm1s0200.pgm", dir + "/SOm1s0500.pgm", dir + "/SOm1s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out2[i].c_str());
        writeParams(s, out2[i].substr(, out2[i].find_last_of(".")) + ".txt");
    }

    //3.GC测试
    s.match_fn = eAD;
    s.aggr_iter = ;
    s.opt_fn = eGraphCut;
    ] = { dir + "/GCm1s0005.pgm", dir + "/GCm1s0010.pgm", dir + "/GCm1s0020.pgm", dir + "/GCm1s0050.pgm", dir + "/GCm1s0100.pgm", dir + "/GCm1s0200.pgm", dir + "/GCm1s0500.pgm", dir + "/GCm1s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out3[i].c_str());
        writeParams(s, out3[i].substr(, out3[i].find_last_of(".")) + ".txt");
    }

    //4.SA测试
    s.match_fn = eAD;
    s.aggr_iter = ;
    s.opt_fn = eSimulAnnl;
    s.opt_sa_start_T = ;
    s.opt_max_iter = ;
    ] = { dir + "/SAm1s0005.pgm", dir + "/SAm1s0010.pgm", dir + "/SAm1s0020.pgm", dir + "/SAm1s0050.pgm", dir + "/SAm1s0100.pgm", dir + "/SAm1s0200.pgm", dir + "/SAm1s0500.pgm", dir + "/SAm1s1000.pgm" };
    ; i < ; i++)
    {
        s.opt_smoothness = opt_smoothness[i];
        s.ComputeCorrespondence(); s.Evaluate();
        WriteImage(s.m_frame[].depth_image, out4[i].c_str());
        writeParams(s, out4[i].substr(, out4[i].find_last_of(".")) + ".txt");
    }
}

//测试LASW
void lasw(CStereoMatcher &s, string dir)
{
    s.match_max = ;
    s.match_fn = eAD;
    s.opt_fn = eWTA;
    s.aggr_fn = eASWeight;
    s.aggr_iter = ;
    s.aggr_window_size = ;
    s.aggr_gamma_proximity = 17.5;
    s.aggr_gamma_similarity = 5.0;
    s.aggr_color_space = eCIELab;

    string out = dir + "/AD_asw_35.pgm";
    s.ComputeCorrespondence();
    s.Evaluate();
    WriteImage(s.m_frame[].depth_image, out.c_str());
    writeParams(s, , out.find_last_of(".")) + ".txt");
    ;
}

//执行
void execute()
{
    vector<string> dirs = cv_GetListFolders("./../TestData", "*", true);
    ; i < dirs.size(); i++)
    {
        CStereoMatcher s;
        comParam(s);
        dirParam(s, dirs[i]);
        //costSSD9(s, dirs[i]);
        //costSSDMF9(s, dirs[i]);
        //costGlobal(s, dirs[i]);
        //aggr(s, dirs[i]);
        //lambda(s, dirs[i]);
        lasw(s, dirs[i]);
    }
}

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立体匹配：关于Middlebury提供的源码的简化使用

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