立体匹配：关于OpenCV读写middlebury网站的给定的视差并恢复三维场景的代码

Middlebury是每个研究立体匹配算法的人不可能不使用的网站，Middlebury提供了许多标准的测试库，这极大地推进了立体匹配算法的进展。Middlebury提供的标准库，其计算出的视差保存在后缀名为.pfm的文件中，Middlebury本身也提供了读取.pfm文件中C++源码和Matlab源码。尽管如此，将源码写成与OpenCV结合的形式是我们更期望的，以下我写的读写.pfm文件的源码。相对于Middlebury给定的源码，更简洁易懂。

#include "CCC/COMCV.h"
#include <fstream>

void writPFM(Mat_<float> &disp, float &scale, string path)
{
    ofstream out(path, ios_base::binary);

    out << "Pf" << endl << disp.cols << " " << disp.rows << endl << scale << endl;
    ; i >= ; i--)//因为存储是从最后行开始存储的
        ; j < disp.cols; j++)
            out.write((const char*)(&disp(i, j)), sizeof(float));

    out.close();
}
void readPFM(Mat_<float> &disp, float &scale, string path)
{
    ifstream in(path, ios_base::binary);

    int cols;
    int rows;
    ];
    , '\n'); in.get();//文件头
    , ' '); in.get(); cols = atoi(tmp);//列数
    , '\n'); in.get(); rows = atoi(tmp); //行数
    , '\n'); in.get(); scale = atof(tmp);//缩放因子

    disp.create(rows, cols);
    ; i >= ; i--)//因为存储是从最后行开始存储的
        ; j < disp.cols; j++)
            in.read((char*)(&disp(i, j)), sizeof(float));

    in.close();
}
void calcXYZ(Mat_<float> &disp, float f, float cx, float cy, float doffs, float baseline, Mat_<Vec3f> xyz)
{
    ; i < disp.rows; i++)
        ; j < disp.cols; j++)
        {
            float x = baseline*(j - cx) / (disp(i, j) + doffs);
            float y = baseline*(i - cy) / (disp(i, j) + doffs);
            float z = baseline*f / (disp(i, j) + doffs);
            xyz(i, j) = Vec3f(x, y, z);
        }
}
void writPLY(Mat_<Vec3f> &xyz, Mat_<Vec3b> &img,string path)
{
    ofstream out(path);
    out << "ply";
    out << endl << "format ascii 1.0";
    out << endl << "element vertex " << xyz.total();
    out << endl << "property float32 x";
    out << endl << "property float32 y";
    out << endl << "property float32 z";    out << endl << "property uchar red";     out << endl << "property uchar green";     out << endl << "property uchar blue";
    out << endl << "end_header";

    ; i < xyz.rows; i++)
        ; j < xyz.cols; j++)
            ] << ] << ] << " " << (int)img(i, j)[2] << " " << (int)img(i, j)[1] << " " << (int)img(i,j)[0];
    out.close();
}

void PFM2XML(string pfmpath, string xmlpath)
{
    Mat_<float> pfm;
    float scale;
    readPFM(pfm, scale, pfmpath);
    saveXML(xmlpath, pfm);
    writPFM(pfm, scale, pfmpath + "_verify.pfm");
}
void PFM2PLY(string pfmpath, string calibpath, string imgpath, string plypath)
{
    Mat_<float> pfm;
    float scale;
    readPFM(pfm, scale, pfmpath);

    ifstream in(calibpath);
    string cxstr, cystr, fstr, doffsstr, baselinestr, tmp;
    in >> fstr >> tmp >> cxstr >> tmp >> tmp >> cystr >> tmp >> tmp >> tmp;
    in >> tmp >> tmp >> tmp >> tmp >> tmp >> tmp >> tmp >> tmp >> tmp;
    in >> doffsstr >> baselinestr;
    in.close();

    //cout << endl << fstr << endl << cxstr << endl << cystr << endl << doffsstr << endl << baselinestr;
    ).c_str());
    , cxstr.length() - ).c_str());
    , cystr.length() - ).c_str());
    ).c_str());
    ).c_str());
    //cout << endl << f << endl << cx << endl << cy << endl << doffs << endl << baseline;getchar();

    Mat_<Vec3f> xyz(pfm.rows, pfm.cols);
    calcXYZ(pfm, f, cx, cy, doffs, baseline, xyz);    Mat_<Vec3b> img = imread(imgpath,1);
    writPLY(xyz, img, plypath);
}

void PFM2XM2LPLY_DIR()
{
    string dir = "./../TestData";
    vector<string> dirs = cv_GetListFolders(dir);
    ; k < dirs.size(); k++)
    {
        string pfmpath = dirs[k] + "/disp0GT.pfm";
        string xmlpath = dirs[k] + "/disp0GT.xml";
        string calibpath = dirs[k] + "/calib.txt";        string imgpath = dirs[k] + "/im0.png";
        string plypath = dirs[k] + "/0xyz.ply";
        PFM2XML(pfmpath, xmlpath);
        PFM2PLY(pfmpath, calibpath, imgpath, plypath);
    }
}