基于重心偏移的视差计算

// FindGravity.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <iostream>
#include <string>
#include "cv.h" 
#include "highgui.h" 




#include <opencv2/core/core.hpp>  
#include <opencv2/highgui/highgui.hpp>


#pragma comment(lib,"opencv_core2410d.lib")                
#pragma comment(lib,"opencv_highgui2410d.lib")                
#pragma comment(lib,"opencv_imgproc2410d.lib")   

using namespace std;
using namespace cv;


void FindGravity()
{
	
}
/** 计算二值图像的重心
* @param[in] src  输入的待处理图像
* @param[out] center 重心坐标
* @retval 0  操作成功
* @retval -1 操作失败
* @note 输入图像是二值化图像
* @note xc=M10/M00, yc=M01/M00, 其中 Mx_order,y_order=SUMx,y(I(x,y)*x^x_order*y^y_order)
 */
 static int aoiGravityCenter(IplImage *src, CvPoint ¢er)
 {
  //if(!src)
  // return GRAVITYCENTER__SRC_IS_NULL;
  double m00, m10, m01;
  CvMoments moment;
  cvMoments( src, &moment, 1);
  m00 = cvGetSpatialMoment( &moment, 0, 0 );
  if( m00 == 0) 
   return 1;
  m10 = cvGetSpatialMoment( &moment, 1, 0 );
  m01 = cvGetSpatialMoment( &moment, 0, 1 );
  center.x = (int) (m10/m00);
  center.y = (int) (m01/m00);
  return 0;
 } 

 IplImage* binary_image(IplImage* src)
 {
	 

		// cvThreshold( src, src, 100, 255, CV_THRESH_BINARY );//100 is the thredhold 
		 IplImage* one_channel = cvCreateImage(cvSize(src->width,src->height),IPL_DEPTH_8U,0);
		
		 for(int y = 0;y < src->height;y++)
		 {
			 char *ptr= src->imageData + y * src->widthStep;
			 char *p_one_channel = one_channel->imageData + y * one_channel->widthStep;
			 for(int x = 0;x < src->width;x++)
			 {
				 int temp = ptr[3*x];
				 if (temp != 0)//不是黑色也就是说不是背景
				 {
					 p_one_channel[x] = 255;//设置为白色
				 }
				 else
				 {
					 p_one_channel[x] = 0;

				 }
				 //ptr[3*x]=
				 //ptr[3*x+1]=
				 //ptr[3*x+2]=; 
			 }
		 }
		 return one_channel;


 }

 void showDisparity(int max,int weiyi,IplImage* src)
 {
	int danwei = 255/max;
	int gray_pixel = weiyi*danwei;
	cout<<gray_pixel<<endl;


	IplImage* one_channel = cvCreateImage(cvSize(src->width,src->height),IPL_DEPTH_8U,0);

	for(int y = 0;y < src->height;y++)
	{
		char *ptr= src->imageData + y * src->widthStep;
		char *p_one_channel = one_channel->imageData + y * one_channel->widthStep;
		for(int x = 0;x < src->width;x++)
		{
			int temp = ptr[x];
			if (temp != 0)//不是黑色也就是说不是背景
			{
				p_one_channel[x] = gray_pixel;//设置为视差
			}
			else
			{
				p_one_channel[x] = 0;

			}
			//ptr[3*x]=
			//ptr[3*x+1]=
			//ptr[3*x+2]=; 
		}
	}
	
	cvNamedWindow( "disparity", 1 ); 
	cvShowImage( "disparity", one_channel );
 }

int _tmain(int argc, _TCHAR* argv[])
{
	string str_name_left = "lamp_left.bmp";
	string str_name_right = "lamp_right.bmp";

	IplImage* src_left;
	IplImage* src_right; 
	IplImage* draw = cvLoadImage(str_name_left.c_str(),1);//绘制重心的图像
	
	if ((src_left = cvLoadImage(str_name_left.c_str(),1))!=0)
	{
		//src = binary_image(src);
		cvNamedWindow( "binary image left", 1 ); 
		cvShowImage( "binary image left", binary_image(src_left) );

		src_right = cvLoadImage(str_name_right.c_str(),1);
		cvNamedWindow( "binary image right", 1 ); 
		cvShowImage( "binary image right", binary_image(src_right) );
	}

	CvPoint xy_left;
	aoiGravityCenter(binary_image(src_left),xy_left);
	cout<<"left image gravity center: "<<endl<<xy_left.x<<endl;
	cout<<xy_left.y<<endl;

	CvPoint xy_right;
	aoiGravityCenter(binary_image(src_right),xy_right);
	cout<<"right image gravity center: "<<endl<<xy_right.x<<endl;
	cout<<xy_right.y<<endl;


	cvCircle(draw,cvPoint(xy_left.x,xy_left.y),3,CV_RGB(0,0,255),5);

	cvNamedWindow( "重心", 1 ); 
	cvShowImage( "重心", draw ); 

	int weiyi = ( xy_left.x - xy_right.x);
	showDisparity(15,weiyi,binary_image(src_left));
	cvWaitKey(0);
	return 0;
}