ADCensus立体匹配python代码

以下是一个简单的ADCensus立体匹配的Python代码示例：

import cv2
import numpy as np

def adcensus_match(left_img, right_img, max_disp):
    window_size = 9
    cthresh = 3
    dthresh = 20

    left_gray = cv2.cvtColor(left_img, cv2.COLOR_BGR2GRAY)
    right_gray = cv2.cvtColor(right_img, cv2.COLOR_BGR2GRAY)

    disp_left = np.zeros_like(left_gray, dtype=np.float32)
    disp_right = np.zeros_like(right_gray, dtype=np.float32)

    height, width = left_gray.shape

    for d in range(max_disp):
        print('Processing disparity level:', d)
        shift = np.eye(4, dtype=np.float32)
        shift[0, 3] = d

        right_warp = cv2.warpPerspective(right_gray, shift, (width, height))

        diff = np.abs(left_gray - right_warp)

        for i in range(height):
            for j in range(width):
                if j - window_size >= 0 and j + window_size < width:
                    left_patch = left_gray[i-window_size:i+window_size+1, j-window_size:j+window_size+1]
                    right_patch = right_warp[i-window_size:i+window_size+1, j-window_size:j+window_size+1]
                    cost = np.sum(np.abs(left_patch - right_patch))

                    if cost < cthresh:
                        disp_left[i, j] = d
                        disp_right[i, j-d] = d

    disp_left_filtered = cv2.medianBlur(disp_left.astype(np.uint8), 5)
    disp_right_filtered = cv2.medianBlur(disp_right.astype(np.uint8), 5)

    disp_left_filtered = disp_left_filtered.astype(np.float32)
    disp_right_filtered = disp_right_filtered.astype(np.float32)

    disp_left_filtered[disp_left_filtered < dthresh] = 0
    disp_right_filtered[disp_right_filtered < dthresh] = 0

    return disp_left_filtered, disp_right_filtered

# 读取左右图像
left_img = cv2.imread('left.png')
right_img = cv2.imread('right.png')

# 设置最大视差值
max_disp = 64

# 进行ADCensus立体匹配
disp_left, disp_right = adcensus_match(left_img, right_img, max_disp)

# 显示视差图
cv2.imshow('Disparity Left', disp_left)
cv2.imshow('Disparity Right', disp_right)
cv2.waitKey(0)
cv2.destroyAllWindows()

请注意，这只是一个简单的示例代码，实际的ADCensus算法可能会包含更多的细节和优化。此代码使用OpenCV库进行图像处理和显示。确保已安装OpenCV库并将左右图像文件命名为'left.png'和'right.png'。你可以根据自己的需求进行调整和修改。