虚拟视点图像的生成009

psnr值在30db左右，ssim在0.85左右。

源代码：

#ifndef _wrapingOf3D1#define _wrapingOf3D1#include<iostream>#include<opencv2\opencv.hpp>#include "opencv2/imgproc/imgproc.hpp"#include "opencv2/highgui/highgui.hpp"#include <math.h> #include <stdio.h> #include <cv.h>#include <highgui.h>#include<io.h>using std::cout;using std::endl;using namespace std;#include <cmath>#include<string.h>#include <iostream>#include <fstream>using namespace std;#include <stdio.h>#include <time.h>char tmpbuf[15];//YYYYMMDDhhmmsschar *getNewFileName(){time_t aclock;time(&aclock);strftime(tmpbuf, 15, "%Y%m%d%H%M%S", localtime(&aclock));printf("%s\n", tmpbuf);return tmpbuf;}double round_off(double x){double temp = floor(x + 0.5);return temp;}double max(double x, double y) {return ((x > y) ? x : y);}double ssim(char *ref_image, char *obj_image){// default settingsdouble C1 = 6.5025, C2 = 58.5225;IplImage*img1 = NULL, *img2 = NULL, *img1_img2 = NULL,*img1_temp = NULL, *img2_temp = NULL,*img1_sq = NULL, *img2_sq = NULL,*mu1 = NULL, *mu2 = NULL,*mu1_sq = NULL, *mu2_sq = NULL, *mu1_mu2 = NULL,*sigma1_sq = NULL, *sigma2_sq = NULL, *sigma12 = NULL,*ssim_map = NULL, *temp1 = NULL, *temp2 = NULL, *temp3 = NULL;/***************************** INITS **********************************/img1_temp = cvLoadImage(ref_image);img2_temp = cvLoadImage(obj_image);if (img1_temp == NULL || img2_temp == NULL)return -1;int x = img1_temp->width, y = img1_temp->height;int nChan = img1_temp->nChannels, d = IPL_DEPTH_32F;CvSize size = cvSize(x, y);img1 = cvCreateImage(size, d, nChan);img2 = cvCreateImage(size, d, nChan);cvConvert(img1_temp, img1);cvConvert(img2_temp, img2);cvReleaseImage(&img1_temp);cvReleaseImage(&img2_temp);img1_sq = cvCreateImage(size, d, nChan);img2_sq = cvCreateImage(size, d, nChan);img1_img2 = cvCreateImage(size, d, nChan);cvPow(img1, img1_sq, 2);cvPow(img2, img2_sq, 2);cvMul(img1, img2, img1_img2, 1);mu1 = cvCreateImage(size, d, nChan);mu2 = cvCreateImage(size, d, nChan);mu1_sq = cvCreateImage(size, d, nChan);mu2_sq = cvCreateImage(size, d, nChan);mu1_mu2 = cvCreateImage(size, d, nChan);sigma1_sq = cvCreateImage(size, d, nChan);sigma2_sq = cvCreateImage(size, d, nChan);sigma12 = cvCreateImage(size, d, nChan);temp1 = cvCreateImage(size, d, nChan);temp2 = cvCreateImage(size, d, nChan);temp3 = cvCreateImage(size, d, nChan);ssim_map = cvCreateImage(size, d, nChan);/*************************** END INITS **********************************///////////////////////////////////////////////////////////////////////////// PRELIMINARY COMPUTINGcvSmooth(img1, mu1, CV_GAUSSIAN, 11, 11, 1.5);cvSmooth(img2, mu2, CV_GAUSSIAN, 11, 11, 1.5);cvPow(mu1, mu1_sq, 2);cvPow(mu2, mu2_sq, 2);cvMul(mu1, mu2, mu1_mu2, 1);cvSmooth(img1_sq, sigma1_sq, CV_GAUSSIAN, 11, 11, 1.5);cvAddWeighted(sigma1_sq, 1, mu1_sq, -1, 0, sigma1_sq);cvSmooth(img2_sq, sigma2_sq, CV_GAUSSIAN, 11, 11, 1.5);cvAddWeighted(sigma2_sq, 1, mu2_sq, -1, 0, sigma2_sq);cvSmooth(img1_img2, sigma12, CV_GAUSSIAN, 11, 11, 1.5);cvAddWeighted(sigma12, 1, mu1_mu2, -1, 0, sigma12);//////////////////////////////////////////////////////////////////////////// FORMULA// (2*mu1_mu2 + C1)cvScale(mu1_mu2, temp1, 2);cvAddS(temp1, cvScalarAll(C1), temp1);// (2*sigma12 + C2)cvScale(sigma12, temp2, 2);cvAddS(temp2, cvScalarAll(C2), temp2);// ((2*mu1_mu2 + C1).*(2*sigma12 + C2))cvMul(temp1, temp2, temp3, 1);// (mu1_sq + mu2_sq + C1)cvAdd(mu1_sq, mu2_sq, temp1);cvAddS(temp1, cvScalarAll(C1), temp1);// (sigma1_sq + sigma2_sq + C2)cvAdd(sigma1_sq, sigma2_sq, temp2);cvAddS(temp2, cvScalarAll(C2), temp2);// ((mu1_sq + mu2_sq + C1).*(sigma1_sq + sigma2_sq + C2))cvMul(temp1, temp2, temp1, 1);// ((2*mu1_mu2 + C1).*(2*sigma12 + C2))./((mu1_sq + mu2_sq + C1).*(sigma1_sq + sigma2_sq + C2))cvDiv(temp3, temp1, ssim_map, 1);CvScalar index_scalar = cvAvg(ssim_map);// through observation, there is approximately // 1% error max with the original matlab programcout << "(R, G & B SSIM index)" << std::endl;cout << index_scalar.val[2] << endl;cout << index_scalar.val[1] << endl;cout << index_scalar.val[0] << endl;cvReleaseImage(&img1_sq);cvReleaseImage(&img2_sq);cvReleaseImage(&img1_img2);cvReleaseImage(&mu1);cvReleaseImage(&mu2);cvReleaseImage(&mu1_sq);cvReleaseImage(&mu2_sq);cvReleaseImage(&mu1_mu2);cvReleaseImage(&sigma1_sq);cvReleaseImage(&sigma2_sq);cvReleaseImage(&sigma12);cvReleaseImage(&temp1);cvReleaseImage(&temp2);cvReleaseImage(&temp3);cvReleaseImage(&ssim_map);//double ssim=max(max(index_scalar.val[0], index_scalar.val[1]), index_scalar.val[2]);double ssim = (index_scalar.val[0] + index_scalar.val[1] + index_scalar.val[2]) / 3;return ssim;}double psnr(char *ref_image, char *obj_image){cv::Mat image_ref = cv::imread(ref_image);cv::Mat image_obj = cv::imread(obj_image);double mse = 0;double div_r = 0;double div_g = 0;double div_b = 0;int width = image_ref.cols;int height = image_ref.rows;double psnr = 0;for (int v = 0; v < height; v++){for (int u = 0; u < width; u++){div_r = image_ref.at<cv::Vec3b>(v, u)[0] - image_obj.at<cv::Vec3b>(v, u)[0];div_g = image_ref.at<cv::Vec3b>(v, u)[1] - image_obj.at<cv::Vec3b>(v, u)[1];div_b = image_ref.at<cv::Vec3b>(v, u)[2] - image_obj.at<cv::Vec3b>(v, u)[2];mse += ((div_r*div_r + div_b*div_b + div_g*div_g) / 3);}}mse = mse / (width*height);psnr = 10 * log10(255 * 255 / mse);printf("%lf\n", mse);printf("%lf\n", psnr);return psnr;}class Histogram1D{private:int histSize[1];float hranges[2];const float *ranges[1];int channels[1];public:Histogram1D(){histSize[0] = 256;hranges[0] = 0.0;hranges[1] = 255.0;ranges[0] = hranges;channels[0] = 0;}cv::MatND getHistogram(const cv::Mat &image){cv::MatND hist;cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges);return hist;}cv::Mat getHistogramImage(const cv::Mat &image){cv::MatND hist = getHistogram(image);double maxVal = 0;double minVal = 0;cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0);maxVal = 25500*2;minVal = 0;cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255));int hpt = static_cast<int>(0.9*histSize[0]);for (int h = 0; h < histSize[0]; h++){float binVal = hist.at<float>(h);int intensity = static_cast<int>(binVal*hpt / maxVal);cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1);}return histImg;}};class Histogram1D1{private:int histSize[1];float hranges[2];const float *ranges[1];int channels[1];public:Histogram1D1(){histSize[0] = 256;hranges[0] = 0.0;hranges[1] = 255.0;ranges[0] = hranges;channels[0] = 1;}cv::MatND getHistogram(const cv::Mat &image){cv::MatND hist;cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges);return hist;}cv::Mat getHistogramImage(const cv::Mat &image){cv::MatND hist = getHistogram(image);double maxVal = 0;double minVal = 0;cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0);maxVal = 25500*2;minVal = 0;cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255));int hpt = static_cast<int>(0.9*histSize[0]);for (int h = 0; h < histSize[0]; h++){float binVal = hist.at<float>(h);int intensity = static_cast<int>(binVal*hpt / maxVal);cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1);}return histImg;}};class Histogram1D2{private:int histSize[1];float hranges[2];const float *ranges[1];int channels[1];public:Histogram1D2(){histSize[0] = 256;hranges[0] = 0.0;hranges[1] = 255.0;ranges[0] = hranges;channels[0] = 2;}cv::MatND getHistogram(const cv::Mat &image){cv::MatND hist;cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges);return hist;}cv::Mat getHistogramImage(const cv::Mat &image){cv::MatND hist = getHistogram(image);double maxVal = 0;double minVal = 0;cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0);maxVal = 25500*2;minVal = 0;cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255));int hpt = static_cast<int>(0.9*histSize[0]);for (int h = 0; h < histSize[0]; h++){float binVal = hist.at<float>(h);int intensity = static_cast<int>(binVal*hpt / maxVal);cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1);}return histImg;}};class ColorHistogram{private:int histSize[3];float hranges[2];const float *ranges[3];int channels[3];public:ColorHistogram(){histSize[0] = histSize[1] = histSize[2] = 256;hranges[0] = 0.0;hranges[1] = 255.0;ranges[0] = hranges;ranges[1] = hranges;ranges[2] = hranges;channels[0] = 0;channels[1] = 1;channels[2] = 2;}cv::MatND getHistogram(const cv::Mat &image){cv::MatND hist;cv::calcHist(&image, 1, channels, cv::Mat(), hist, 3, histSize, ranges);return hist;}cv::SparseMat getSparseHistogram(const cv::Mat &image){cv::SparseMat hist(3, histSize, CV_32F);cv::calcHist(&image, 1, channels, cv::Mat(), hist, 3, histSize, ranges);return hist;}};/***define a struct included intrinsic and extrinsic args*/typedef struct {double m_K[3][3]; // 3x3 intrinsic matrixdouble m_RotMatrix[3][3]; // rotation matrixdouble m_Trans[3]; // translation vectordouble m_ProjMatrix[4][4]; // projection matrix} CalibStruct;/***define globle variables*/CalibStruct m_CalibParams[8];int m_NumCameras = 8;int m_Width = 1024, m_Height = 768; // camera resolution is 1024x768double pts[8][3];/***declare function*/void InitializeFromFile(char *fileName);double DepthLevelToZ(unsigned char d);unsigned char ZToDepthLever(double z);double projXYZtoUV(double projMatrix[4][4], double x, double y, double z, double *u, double *v);void projUVZtoXY(double projMatrix[4][4], double u, double v, double z, double *x, double *y, double pt[8][2]);void wrapingImage(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut);void pointProject_from_ref_to_otherView(double pts[8][2], int ref, int u, int v, unsigned char d);/***define function*//*** read text file and write args to struct of globle variable*/void readCalibrationFile(char *fileName){int i, j, k;FILE *pIn;double dIn; // dummy variableint camIdx;if (pIn = fopen(fileName, "r")){for (k = 0; k<m_NumCameras; k++){// camera indexfscanf(pIn, "%d", &camIdx);//std::cout << camIdx << std::endl;// camera intrinsicsfor (i = 0; i < 3; i++){fscanf(pIn, "%lf\t%lf\t%lf", &(m_CalibParams[camIdx].m_K[i][0]), &(m_CalibParams[camIdx].m_K[i][1]), &(m_CalibParams[camIdx].m_K[i][2]));//std::cout << (m_CalibParams[camIdx].m_K[i][0])<<"\t"<<(m_CalibParams[camIdx].m_K[i][1]) <<"\t"<< (m_CalibParams[camIdx].m_K[i][2]) << std::endl;}// read barrel distortion params (assume 0)fscanf(pIn, "%lf", &dIn);fscanf(pIn, "%lf", &dIn);// read extrinsicsfor (i = 0; i<3; i++){for (j = 0; j<3; j++){fscanf(pIn, "%lf", &dIn);m_CalibParams[camIdx].m_RotMatrix[i][j] = dIn;//std::cout << m_CalibParams[camIdx].m_RotMatrix[i][j] << std::endl;}fscanf(pIn, "%lf", &dIn);m_CalibParams[camIdx].m_Trans[i] = dIn;}}fclose(pIn);}}// readCalibrationFile/***calcular all projectionMatrices depended on struct variables*/void computeProjectionMatrices(){int i, j, k, camIdx;double(*inMat)[3];double exMat[3][4];for (camIdx = 0; camIdx<m_NumCameras; camIdx++){// The intrinsic matrixinMat = m_CalibParams[camIdx].m_K;// The extrinsic matrixfor (i = 0; i<3; i++){for (j = 0; j<3; j++){exMat[i][j] = m_CalibParams[camIdx].m_RotMatrix[i][j];}}for (i = 0; i<3; i++){exMat[i][3] = m_CalibParams[camIdx].m_Trans[i];}// Multiply the intrinsic matrix by the extrinsic matrix to find our projection matrixfor (i = 0; i<3; i++){for (j = 0; j<4; j++){m_CalibParams[camIdx].m_ProjMatrix[i][j] = 0.0;for (k = 0; k<3; k++){m_CalibParams[camIdx].m_ProjMatrix[i][j] += inMat[i][k] * exMat[k][j];}}}m_CalibParams[camIdx].m_ProjMatrix[3][0] = 0.0;m_CalibParams[camIdx].m_ProjMatrix[3][1] = 0.0;m_CalibParams[camIdx].m_ProjMatrix[3][2] = 0.0;m_CalibParams[camIdx].m_ProjMatrix[3][3] = 1.0;}}/****init projection matrix*/void InitializeFromFile(char *fileName){readCalibrationFile(fileName);computeProjectionMatrices();}/****calcular z depended on d of depth image*/double DepthLevelToZ(unsigned char d){double z;double MinZ = 44.0, MaxZ = 120.0;z = 1.0 / ((d / 255.0)*(1.0 / MinZ - 1.0 / MaxZ) + 1.0 / MaxZ);return z;}/****calcular d of depth image depended on z*/unsigned char ZToDepthLever(double z){double MinZ = 44.0, MaxZ = 120.0;unsigned char d;d = (unsigned char)(255.0*(1 / (double)z - 1 / MaxZ) / (1 / MinZ - 1 / MaxZ));return d;}/****calcular x,y depended on u,v,z and projection Matrix**for example,projection Matrix is m_CalibParams[i].m_ProjMatrix which is index of camera*/void projUVZtoXY(double projMatrix[4][4], double u, double v, double z, double *x, double *y){double c0, c1, c2;// image (0,0) is bottom lefthand cornerv = (double)m_Height - v - 1.0;c0 = z*projMatrix[0][2] + projMatrix[0][3];c1 = z*projMatrix[1][2] + projMatrix[1][3];c2 = z*projMatrix[2][2] + projMatrix[2][3];*y = u*(c1*projMatrix[2][0] - projMatrix[1][0] * c2) +v*(c2*projMatrix[0][0] - projMatrix[2][0] * c0) +projMatrix[1][0] * c0 - c1*projMatrix[0][0];*y /= v*(projMatrix[2][0] * projMatrix[0][1] - projMatrix[2][1] * projMatrix[0][0]) +u*(projMatrix[1][0] * projMatrix[2][1] - projMatrix[1][1] * projMatrix[2][0]) +projMatrix[0][0] * projMatrix[1][1] - projMatrix[1][0] * projMatrix[0][1];*x = (*y)*(projMatrix[0][1] - projMatrix[2][1] * u) + c0 - c2*u;*x /= projMatrix[2][0] * u - projMatrix[0][0];} // projUVZtoXY/****calcular u,v,z1 depended on x,y,z**z1 is after projection and z is before projection.z1 is return value**/double projXYZtoUV(double projMatrix[4][4], double x, double y, double z, double *u, double *v){double w;*u = projMatrix[0][0] * x +projMatrix[0][1] * y +projMatrix[0][2] * z +projMatrix[0][3];*v = projMatrix[1][0] * x +projMatrix[1][1] * y +projMatrix[1][2] * z +projMatrix[1][3];w = projMatrix[2][0] * x +projMatrix[2][1] * y +projMatrix[2][2] * z +projMatrix[2][3];*u /= w;*v /= w;// image (0,0) is bottom lefthand corner*v = (double)m_Height - *v - 1.0;return w;} // projXYZtoUV/****/void pointProject_from_ref_to_otherView(double pts[8][3], int ref, int u, int v, unsigned char d){double x, y, z = DepthLevelToZ(d);//printf("Testing projection of pt (%d,%d) in camera 0 with d = %d (z = %f) to other cameras\n", u, v, d, z);projUVZtoXY(m_CalibParams[ref].m_ProjMatrix, (double)u, (double)v, z, &x, &y);//printf("3D pt = (%f, %f, %f) [coordinates wrt reference camera]\n", x, y, z);for (int cam = 0; cam<8; cam++){double *pt = pts[cam];pt[0] = 0;pt[1] = 0;pt[2] = 0;}for (int cam = 0; cam<8; cam++){double *pt = pts[cam];pt[2] = projXYZtoUV(m_CalibParams[cam].m_ProjMatrix, x, y, z, &pt[0], &pt[1]);//printf("Camera %d: (%f, %f)\n", cam, pt[0], pt[1]);pt[2] = ZToDepthLever(pt[2]);}}/****wraping image,ref represent reference cam,proj represent projection cam**the kernal code**/void wrapingImage(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut){for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){double d = imageDepth.at<cv::Vec3b>(v, u)[0];pointProject_from_ref_to_otherView(pts, ref, u, v, d);int u1 = (int)pts[proj][0];int v1 = (int)pts[proj][1];int k1 = (int)pts[proj][2];if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1)continue;if (k1 < imageDepthOut.at<cv::Vec3b>(v1, u1)[0])continue;imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u);imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1;}}void wrapingImageGai1(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut){cv::Mat matBj;matBj.create(imageColor.rows, imageColor.cols, CV_64FC3);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){matBj.at<cv::Vec3d>(v, u)[0] = 0;matBj.at<cv::Vec3d>(v, u)[1] = 0;matBj.at<cv::Vec3d>(v, u)[2] = 0;}}for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){double d = imageDepth.at<cv::Vec3b>(v, u)[0];pointProject_from_ref_to_otherView(pts, ref, u, v, d);int u1 = (int)round_off(pts[proj][0]);int v1 = (int)round_off(pts[proj][1]);double xy = (u1 - pts[proj][0])*(u1 - pts[proj][0]) + (v1 - pts[proj][1])*(v1 - pts[proj][1]);double z = pts[proj][2];int k1 = (int)round_off(pts[proj][2]);if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1)continue;if (int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj.at<cv::Vec3d>(v1, u1)[1])continue;if (z == matBj.at<cv::Vec3d>(v1, u1)[1] && int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj.at<cv::Vec3d>(v1, u1)[0])continue;imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u);imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1;matBj.at<cv::Vec3d>(v1, u1)[0] = xy;matBj.at<cv::Vec3d>(v1, u1)[1] = z;matBj.at<cv::Vec3d>(v1, u1)[2] = 1;}}void wrapingImageGai2(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut){cv::Mat matBj;matBj.create(imageColor.rows*2, imageColor.cols*2, CV_64FC3);for (int v = 0; v < imageColor.rows*2; v++){for (int u = 0; u < imageColor.cols*2; u++){matBj.at<cv::Vec3d>(v, u)[0] = 0;matBj.at<cv::Vec3d>(v, u)[1] = 0;matBj.at<cv::Vec3d>(v, u)[2] = 0;}}cv::pyrUp(imageColor, imageColor, cv::Size(imageColor.cols * 2, imageColor.rows * 2));cv::pyrUp(imageDepth, imageDepth, cv::Size(imageDepth.cols * 2, imageDepth.rows * 2));cv::pyrUp(imageColorOut, imageColorOut, cv::Size(imageColorOut.cols * 2, imageColorOut.rows * 2));cv::pyrUp(imageDepthOut, imageDepthOut, cv::Size(imageDepthOut.cols * 2, imageDepthOut.rows * 2));for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){double d = imageDepth.at<cv::Vec3b>(v, u)[0];pointProject_from_ref_to_otherView(pts, ref, u, v, d);int u1 = (int)round_off(pts[proj][0]);int v1 = (int)round_off(pts[proj][1]);double xy = (u1 - pts[proj][0])*(u1 - pts[proj][0]) + (v1 - pts[proj][1])*(v1 - pts[proj][1]);double z = pts[proj][2];int k1 = (int)round_off(pts[proj][2]);if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1)continue;if (int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj.at<cv::Vec3d>(v1, u1)[1])continue;if (z == matBj.at<cv::Vec3d>(v1, u1)[1] && int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj.at<cv::Vec3d>(v1, u1)[0])continue;imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u);imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1;imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1;matBj.at<cv::Vec3d>(v1, u1)[0] = xy;matBj.at<cv::Vec3d>(v1, u1)[1] = z;matBj.at<cv::Vec3d>(v1, u1)[2] = 1;}cv::pyrDown(imageColor, imageColor, cv::Size(imageColor.cols / 2, imageColor.rows / 2));cv::pyrDown(imageDepth, imageDepth, cv::Size(imageDepth.cols / 2, imageDepth.rows / 2));cv::pyrDown(imageColorOut, imageColorOut, cv::Size(imageColorOut.cols / 2, imageColorOut.rows / 2));cv::pyrDown(imageDepthOut, imageDepthOut, cv::Size(imageDepthOut.cols / 2, imageDepthOut.rows / 2));}void wrapingImage_inverse(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut){for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){double d = imageDepthOut.at<cv::Vec3b>(v, u)[0];if (d == 0)continue;if (imageColorOut.at<cv::Vec3b>(v, u)[0] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0)continue;pointProject_from_ref_to_otherView(pts, proj, u, v, d);int u1 = (int)pts[ref][0];int v1 = (int)pts[ref][1];int k1 = (int)pts[ref][2];if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1)continue;imageColorOut.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v1, u1);}}int MedianValue(cv::Mat imageColor, int tw, int x, int y, int cn){int i, j, k;int px, py, c;int *value;value = new int[tw*tw];k = 0;for (i = 0; i < tw; i++){for (j = 0; j < tw; j++){py = y - tw / 2 + i;px = x - tw / 2 + j;value[k++] = imageColor.at<cv::Vec3b>(px,py)[cn];}}int count;count = k;for (i = 0; i < count - 1; i++){k = i;for (j = i + 1; j < count; j++){if (value[j] < value[k]){k = j;}}c = value[i];value[i] = value[k];value[k] = c;}c = value[count / 2];delete[] value;return c;}void fillMedian(cv::Mat &imageColor, int tw){cv::Mat imageColor2;imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type());for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u);}}for (int v = 0+tw/2; v < imageColor.rows-tw/2; v++){for (int u = 0+tw/2; u < imageColor.cols-tw/2; u++){int k = 0;if (imageColor2.at<cv::Vec3b>(v, u)[0] != 0 || imageColor2.at<cv::Vec3b>(v, u)[1] != 0 || imageColor2.at<cv::Vec3b>(v, u)[2] != 0){continue;}for (int i = 0; i < tw; i++){for (int j = 0; j < tw; j++){int py = u - tw / 2 + i;int px = v - tw / 2 + j;if (imageColor2.at<cv::Vec3b>(px, py)[0] !=0 && imageColor2.at<cv::Vec3b>(px, py)[1] != 0 && imageColor2.at<cv::Vec3b>(px, py)[2] != 0){k++;}}}if (k > 4){for (int cn = 0; cn < 3; cn++){imageColor.at<cv::Vec3b>(v, u)[cn] = MedianValue(imageColor2, 3, v, u, cn);}}}}}void dealXjlk(cv::Mat &imageColor){cv::Mat imageColor2;imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type());for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u);}}for (int v = 8; v < imageColor2.rows-8; v++){for (int u = 8; u < imageColor2.cols - 8; u++){if (imageColor2.at<cv::Vec3b>(v, u)[2] != 0 && imageColor2.at<cv::Vec3b>(v, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u)[0] != 0){/*if (imageColor.at<cv::Vec3b>(v, u + 1)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 1)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 1)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[0] != 0){continue;}if (imageColor.at<cv::Vec3b>(v, u - 1)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 1)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 1)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[0] != 0){continue;}if (imageColor.at<cv::Vec3b>(v + 1, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 1, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 1, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[0] != 0){continue;}if (imageColor.at<cv::Vec3b>(v - 1, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 1, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 1, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[0] != 0){continue;}*///第一种情况，左上,左if (imageColor2.at<cv::Vec3b>(v, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;continue;}//第二种情况，左下if (imageColor2.at<cv::Vec3b>(v, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;continue;}//第三种情况，右上，右if (imageColor2.at<cv::Vec3b>(v, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;continue;}//第四种情况，右下if (imageColor2.at<cv::Vec3b>(v, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;continue;}//第五种情况，上if (imageColor2.at<cv::Vec3b>(v + 1, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;continue;}//第六种情况，下if (imageColor2.at<cv::Vec3b>(v - 1, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[0] == 0){imageColor.at<cv::Vec3b>(v, u)[0] = 0;imageColor.at<cv::Vec3b>(v, u)[1] = 0;imageColor.at<cv::Vec3b>(v, u)[2] = 0;}}}}}int tt = 1;void dilate(cv::Mat &imageColor){cv::Mat imageColor2;imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type());for (int v = 0+tt; v < imageColor.rows-tt; v++){for (int u = 0+tt; u < imageColor.cols-tt; u++){imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u);}}for (int v = 0+tt; v < imageColor2.rows-tt; v++){for (int u = 0+tt; u < imageColor2.cols-tt; u++){if (imageColor2.at<cv::Vec3b>(v, u)[2] != 0 && imageColor2.at<cv::Vec3b>(v, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u)[0] != 0){if (imageColor2.at<cv::Vec3b>(v + 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[2] == 0){imageColor.at<cv::Vec3b>(v + 1, u)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v + 1, u)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v + 1, u)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u+1)[2] == 0){imageColor.at<cv::Vec3b>(v, u+1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v, u+1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v, u+1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v - 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[2] != 0){imageColor.at<cv::Vec3b>(v - 1, u)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v - 1, u)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v - 1, u)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[2] != 0){imageColor.at<cv::Vec3b>(v, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v + 1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u + 1)[2] != 0){imageColor.at<cv::Vec3b>(v + 1, u + 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v + 1, u + 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v + 1, u + 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v - 1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[2] != 0){imageColor.at<cv::Vec3b>(v - 1, u + 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v - 1, u + 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v - 1, u + 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v - 1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[2] != 0){imageColor.at<cv::Vec3b>(v - 1, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v - 1, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v - 1, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}if (imageColor2.at<cv::Vec3b>(v + 1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u - 1)[2] != 0){imageColor.at<cv::Vec3b>(v + 1, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0];imageColor.at<cv::Vec3b>(v + 1, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1];imageColor.at<cv::Vec3b>(v + 1, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2];}}}}}void erode(cv::Mat &imageColor){cv::Mat imageColor2;imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type());for (int v = 0+tt; v < imageColor.rows-tt; v++){for (int u = 0+tt; u < imageColor.cols-tt; u++){imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u);}}for (int v = 0+tt; v < imageColor2.rows-tt; v++){for (int u = 0+tt; u < imageColor2.cols-tt; u++){if (imageColor2.at<cv::Vec3b>(v, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u)[0] == 0){if (imageColor2.at<cv::Vec3b>(v + 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[2] != 0){imageColor.at<cv::Vec3b>(v + 1, u)[0] = 0;imageColor.at<cv::Vec3b>(v + 1, u)[1] = 0;imageColor.at<cv::Vec3b>(v + 1, u)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[2] != 0){imageColor.at<cv::Vec3b>(v, u + 1)[0] = 0;imageColor.at<cv::Vec3b>(v, u + 1)[1] = 0;imageColor.at<cv::Vec3b>(v, u + 1)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v - 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[2] != 0){imageColor.at<cv::Vec3b>(v - 1, u)[0] = 0;imageColor.at<cv::Vec3b>(v - 1, u)[1] = 0;imageColor.at<cv::Vec3b>(v - 1, u)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[2] != 0){imageColor.at<cv::Vec3b>(v, u - 1)[0] = 0;imageColor.at<cv::Vec3b>(v, u - 1)[1] = 0;imageColor.at<cv::Vec3b>(v, u - 1)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v + 1, u+1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[2] != 0){imageColor.at<cv::Vec3b>(v + 1, u+1)[0] = 0;imageColor.at<cv::Vec3b>(v + 1, u+1)[1] = 0;imageColor.at<cv::Vec3b>(v + 1, u+1)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v-1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v-1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v-1, u + 1)[2] != 0){imageColor.at<cv::Vec3b>(v-1, u + 1)[0] = 0;imageColor.at<cv::Vec3b>(v-1, u + 1)[1] = 0;imageColor.at<cv::Vec3b>(v-1, u + 1)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v - 1, u-1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u-1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u-1)[2] != 0){imageColor.at<cv::Vec3b>(v - 1, u-1)[0] = 0;imageColor.at<cv::Vec3b>(v - 1, u-1)[1] = 0;imageColor.at<cv::Vec3b>(v - 1, u-1)[2] = 0;}if (imageColor2.at<cv::Vec3b>(v+1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[2] != 0){imageColor.at<cv::Vec3b>(v+1, u - 1)[0] = 0;imageColor.at<cv::Vec3b>(v+1, u - 1)[1] = 0;imageColor.at<cv::Vec3b>(v+1, u - 1)[2] = 0;}}}}}void dipslay(char *calibParam, char *refColor, char *refDepth, char *refColor2, char *refDepth2, char *actColor, int ref = 5, int ref2 = 7, int proj = 6){//initialize projection_MatrixInitializeFromFile(calibParam);//display projection_Matrix/*for (int i = 0; i < m_NumCameras; i++){for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++)std::cout << m_CalibParams[i].m_K[j][k] << "\t";std::cout << std::endl;}for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++)std::cout << m_CalibParams[i].m_RotMatrix[j][k] << "\t";std::cout << std::endl;}for (int k = 0; k < 3; k++)std::cout << m_CalibParams[i].m_Trans[k] << "\t";std::cout << std::endl;std::cout << std::endl;std::cout << std::endl;std::cout << std::endl;}*///suspend and users enter a digitint aa;//std::cin >> aa;//read color image and depth image of refrencecv::Mat imageColor = cv::imread(refColor);cv::Mat imageDepth = cv::imread(refDepth);cv::Mat imageColor2 = cv::imread(refColor2);cv::Mat imageDepth2 = cv::imread(refDepth2);//read true image used to comparecv::Mat imageColor_actual = cv::imread(actColor);//set reference cam//set projection cam//test code/*pointProject_from_ref_to_otherView(pts, ref, 700, 700, imageDepth.at<cv::Vec3b>(700, 700)[0]);for (int i = 0; i < 8; i++){std::cout << pts[i][0] << "\t" << pts[i][1] << std::endl;}*///std::cin >> aa;//define two variable of outputcv::Mat imageColorOut;cv::Mat imageColorOut2;cv::Mat imageColorOut3;cv::Mat imageDepthOut;cv::Mat imageDepthOut2;imageColorOut.create(imageColor.rows, imageColor.cols, imageColor.type());imageColorOut2.create(imageColor.rows, imageColor.cols, imageColor.type());imageColorOut3.create(imageColor.rows, imageColor.cols, imageColor.type());imageDepthOut.create(imageColor.rows, imageColor.cols, imageColor.type());imageDepthOut2.create(imageColor.rows, imageColor.cols, imageColor.type());for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){imageColorOut.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut2.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut2.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut2.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut3.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut3.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut3.at<cv::Vec3b>(v, u)[2] = 0;imageDepthOut.at<cv::Vec3b>(v, u)[0] = 0;imageDepthOut.at<cv::Vec3b>(v, u)[1] = 0;imageDepthOut.at<cv::Vec3b>(v, u)[2] = 0;imageDepthOut2.at<cv::Vec3b>(v, u)[0] = 0;imageDepthOut2.at<cv::Vec3b>(v, u)[1] = 0;imageDepthOut2.at<cv::Vec3b>(v, u)[2] = 0;}}//save_dirchar *save_dir = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\";//wrapingImage(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);//wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);wrapingImageGai1(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);wrapingImageGai1(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);cv::medianBlur(imageColorOut, imageColorOut, 3);cv::medianBlur(imageColorOut2, imageColorOut2, 3);fillMedian(imageColorOut, 3);fillMedian(imageColorOut2, 3);fillMedian(imageColorOut, 3);fillMedian(imageColorOut2, 3);/*cv::medianBlur(imageColorOut, imageColorOut, 3);cv::medianBlur(imageColorOut2, imageColorOut2, 3);cv::medianBlur(imageColorOut, imageColorOut, 3);cv::medianBlur(imageColorOut2, imageColorOut2, 3);*//*erode(imageColorOut);erode(imageColorOut2);erode(imageColorOut2);erode(imageColorOut);*/dealXjlk(imageColorOut);dealXjlk(imageColorOut2);dealXjlk(imageColorOut);dealXjlk(imageColorOut2);/*dealXjlk(imageColorOut);dealXjlk(imageColorOut2);dealXjlk(imageColorOut);dealXjlk(imageColorOut2);*//*dilate(imageColorOut);dilate(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);*//*dilate(imageColorOut);dilate(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);erode(imageColorOut);erode(imageColorOut2);erode(imageColorOut);erode(imageColorOut2);erode(imageColorOut);erode(imageColorOut2);erode(imageColorOut);erode(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);dilate(imageColorOut);dilate(imageColorOut2);*///cv::erode(imageColorOut,imageColorOut,cv::Mat());//cv::erode(imageColorOut2, imageColorOut2, cv::Mat());//cv::dilate(imageColorOut, imageColorOut, cv::Mat());//cv::dilate(imageColorOut2, imageColorOut2, cv::Mat());/*cv::medianBlur(imageColorOut, imageColorOut, 3);cv::medianBlur(imageColorOut2, imageColorOut2, 3);cv::Mat element5(3, 3, CV_8U, cv::Scalar(1));cv::erode(imageColorOut, imageColorOut, element5);cv::erode(imageColorOut2, imageColorOut2, element5);*//*cv::Mat element5(3, 3, CV_8U, cv::Scalar(1));cv::morphologyEx(imageColorOut, imageColorOut, cv::MORPH_CLOSE, element5);cv::morphologyEx(imageColorOut2, imageColorOut2, cv::MORPH_CLOSE, element5);*///cv::erode(imageColorOut, imageColorOut, element5);//cv::erode(imageColorOut2, imageColorOut2, element5);/*cv::cvtColor(imageColorOut, imageColorOut, CV_BGR2HSV);cv::cvtColor(imageColorOut2, imageColorOut2, CV_BGR2HSV);cv::cvtColor(imageColorOut3, imageColorOut3, CV_BGR2HSV);*///Histogram1D h;//cv::MatND histo = h.getHistogramImage(imageColorOut);//cv::MatND histo3 = h.getHistogramImage(imageColorOut2);//cv::Mat histoVsHisto2;//cv::addWeighted(histo, 0.5, histo3, 0.5, 0.0, histoVsHisto2);///*cv::imshow("histoVsHisto2gram", histoVsHisto2);//cv::imshow("L1", histo);//cv::imshow("L2", histo3);*///Histogram1D1 h1;//cv::MatND histo1 = h1.getHistogramImage(imageColorOut);//cv::MatND histo21 = h1.getHistogramImage(imageColorOut2);//cv::Mat histoVsHisto21;//cv::addWeighted(histo1, 0.5, histo21, 0.5, 0.0, histoVsHisto21);///*cv::imshow("histoVsHisto2gram1", histoVsHisto21);//cv::imshow("a1", histo1);//cv::imshow("a2", histo21);*///Histogram1D2 h2;//cv::MatND histo2 = h2.getHistogramImage(imageColorOut);//cv::MatND histo22 = h2.getHistogramImage(imageColorOut2);//cv::Mat histoVsHisto22;//cv::addWeighted(histo2, 0.5, histo22, 0.5, 0.0, histoVsHisto22);///*cv::imshow("histoVsHisto2gram2", histoVsHisto22);//cv::imshow("b1", histo2);//cv::imshow("b2", histo22);*//*for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0){continue;}if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0){continue;}imageColorOut3.at<cv::Vec3b>(v, u)[0] = (imageColorOut.at<cv::Vec3b>(v, u)[0] + imageColorOut2.at<cv::Vec3b>(v, u)[0]) / 2;imageColorOut3.at<cv::Vec3b>(v, u)[1] = (imageColorOut.at<cv::Vec3b>(v, u)[1] + imageColorOut2.at<cv::Vec3b>(v, u)[1]) / 2;imageColorOut3.at<cv::Vec3b>(v, u)[2] = (imageColorOut.at<cv::Vec3b>(v, u)[2] + imageColorOut2.at<cv::Vec3b>(v, u)[2]) / 2;}}*/for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0){imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1];imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2];}else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0){imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1];imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2];}else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0){imageColorOut3.at<cv::Vec3b>(v, u)[0] = (imageColorOut.at<cv::Vec3b>(v, u)[0] + imageColorOut2.at<cv::Vec3b>(v, u)[0]) / 2;imageColorOut3.at<cv::Vec3b>(v, u)[1] = (imageColorOut.at<cv::Vec3b>(v, u)[1] + imageColorOut2.at<cv::Vec3b>(v, u)[1]) / 2;imageColorOut3.at<cv::Vec3b>(v, u)[2] = (imageColorOut.at<cv::Vec3b>(v, u)[2] + imageColorOut2.at<cv::Vec3b>(v, u)[2]) / 2;}}}//cv::inpaint(imageColorOut3, imageColorOut3, imageColorOut3,1, cv::INPAINT_TELEA);/*dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);dilate(imageColorOut3);*///dilate(imageColorOut3);fillMedian(imageColorOut3, 3);cv::medianBlur(imageColorOut3, imageColorOut3, 3);/*int t = 1;int s = 1;for (int v = 0+s; v < imageColor.rows-s; v++){for (int u = 0+s; u < imageColor.cols-s; u++){if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0){int n01=0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[1];n01++;}}if (n01 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[1] = aa/(n01);imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2];}else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0){int n02 = 0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[1];n02++;}}if (n02 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[1] = aa/(n02);imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2];}}}*//*int t = 1;int s = 1;for (int v = 0 + s; v < imageColor.rows - s; v++){for (int u = 0 + s; u < imageColor.cols - s; u++){if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0){int n01 = 0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[2];n01++;}}if (n01 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[2] = aa / (n01);imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1];}if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0){int n02 = 0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[2];n02++;}}if (n02 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0];imageColorOut3.at<cv::Vec3b>(v, u)[2] = aa / (n02);imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1];}}}*//*int t = 1;int s = 1;for (int v = 0 + s; v < imageColor.rows - s; v++){for (int u = 0 + s; u < imageColor.cols - s; u++){if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0){int n01 = 0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[0];n01++;}}if (n01 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = aa/n01;imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1];imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2];}else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0){int n01 = 0;int aa = 0;for (int i = v - t; i <= v + t; i++)for (int j = u - t; j <= u + t; j++){if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){aa += imageColorOut3.at<cv::Vec3b>(i, j)[0];n01++;}}if (n01 == 0)continue;imageColorOut3.at<cv::Vec3b>(v, u)[0] = aa / n01;imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1];imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2];}}}*//*cv::cvtColor(imageColorOut, imageColorOut, CV_HSV2BGR);cv::cvtColor(imageColorOut2, imageColorOut2, CV_HSV2BGR);cv::cvtColor(imageColorOut3, imageColorOut3, CV_HSV2BGR);*///cv::imshow("virtruel_Color_image01", imageColorOut);    /*cv::Mat imageColorOut4;    imageColorOut4.create(imageColor.rows, imageColor.cols, imageColor.type());    cv::pyrUp(imageColorOut3, imageColorOut4, cv::Size(imageColorOut.cols * 2, imageColorOut.rows * 2));cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image4.jpg", imageColorOut4);*/cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg", imageColorOut);//cv::imshow("virtruel_Color_image21", imageColorOut2);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg", imageColorOut2);//cv::imshow("virtruel_Color_image11", imageColorOut3);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg", imageColorOut3);////cv::imshow("virtruel_Depth_image", imageDepthOut);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image01.jpg", imageDepthOut);////cv::imshow("virtruel_Depth_image2", imageDepthOut2);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image21.jpg", imageDepthOut2);////display actruel_image//cv::imshow("actruel_image", imageColor_actual);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg", imageColor_actual);////mix actual and virtruel and check changes//cv::Mat imageColor01ActVSProj;//cv::addWeighted(imageColor_actual, 0.5, imageColorOut, 0.5, 0.0, imageColor01ActVSProj);//cv::imshow("imageColorActVSProj01", imageColor01ActVSProj);//cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj01.jpg", imageColor01ActVSProj);//cv::Mat imageColor21ActVSProj;//cv::addWeighted(imageColor_actual, 0.5, imageColorOut3, 0.5, 0.0, imageColor21ActVSProj);//cv::imshow("imageColorActVSProj21", imageColor21ActVSProj);//cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj21.jpg", imageColor21ActVSProj);//cv::Mat imageColor02ActVSProj;//cv::addWeighted(imageColorOut, 0.5, imageColorOut2, 0.5, 0.0, imageColor02ActVSProj);//cv::imshow("imageColorActVSProj02", imageColor02ActVSProj);//cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj02.jpg", imageColor02ActVSProj);//cv::waitKey();}void main(){//char refColor[200];//char refDepth[200];FILE *fp;FILE *fp2;FILE *fp3;char filename[50] = "d:\\psnr_ssim"; // 此处写入文件名 strcat(filename, getNewFileName());strcat(filename, ".txt");ofstream fout(filename);char str0[200][100];char str2[200][100];char str3[200][100];int i, n = 0;system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3 >d:\\cam3.txt");system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5 >d:\\cam5.txt");system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4 >d:\\cam4.txt");fp = fopen("d:\\cam3.txt", "r");fp2 = fopen("d:\\cam5.txt", "r");fp3 = fopen("d:\\cam4.txt", "r");while (1){if (fgets(str0[n], 50, fp) == NULL) break;str0[n][strlen(str0[n]) - 1] = '\0';   // 加一个字符串结束符if (fgets(str2[n], 50, fp2) == NULL) break;str2[n][strlen(str2[n]) - 1] = '\0';   // 加一个字符串结束符if (fgets(str3[n], 50, fp3) == NULL) break;str3[n][strlen(str3[n]) - 1] = '\0';   // 加一个字符串结束符n++;}n--;fclose(fp);fclose(fp2);fclose(fp3);double value_psnr01 = 0;double value_ssim01 = 0;double value_psnr21 = 0;double value_ssim21 = 0;double value_psnr11 = 0;double value_ssim11 = 0;for (i = 0; i < 100; i++){char refColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\";char refDepth[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\";char refColor2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\";char refDepth2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\";char calibParam[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\calibParams-breakdancers.txt";char actColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4\\";strcat(refColor, str0[i]);strcat(refDepth, str0[i+100]);strcat(refColor2, str2[i]);strcat(refDepth2, str2[i + 100]);strcat(actColor, str3[i]);/*printf("%s\n",refColor);printf("%s\n",refDepth);printf("%s\n", refColor2);printf("%s\n", refDepth2);printf("%s\n", actColor);*/dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor, 3, 5, 4);char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg";char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg";char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg";value_psnr01 += psnr(ref_img01, act_img);printf("psnr01=%lf\n", value_psnr01 / (i + 1));fout << value_psnr01 / (i + 1)<<"\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim01 += ssim(ref_img01, act_img);printf("ssim01=%lf\n", value_ssim01 / (i + 1));fout << value_ssim01 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_psnr21 += psnr(ref_img21, act_img);printf("psnr21=%lf\n", value_psnr21 / (i + 1));fout << value_psnr21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim21 += ssim(ref_img21, act_img);printf("ssim21=%lf\n", value_ssim21 / (i + 1));fout << value_ssim21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_psnr11 += psnr(ref_img11, act_img);printf("psnr11=%lf\n", value_psnr11 / (i + 1));fout << value_psnr11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim11 += ssim(ref_img11, act_img);printf("ssim11=%lf\n", value_ssim11 / (i + 1));fout << value_ssim11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去fout << endl;}cout << "完啦！！！！！！！！！！！！！";cin >> i;/*char *refColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\color-cam5-f000.jpg";char *refDepth = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\depth-cam5-f000.png";char *refColor2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\color-cam7-f000.jpg";char *refDepth2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\depth-cam7-f000.png";char *calibParam = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt";char *actColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\color-cam6-f000.jpg";char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg";char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg";char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg";dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor);double value_psnr01 = psnr(ref_img01, act_img);printf("psnr01=%lf\n", value_psnr01);double value_ssim01 = ssim(ref_img01, act_img);printf("ssim01=%lf\n", value_ssim01);double value_psnr21 = psnr(ref_img21, act_img);printf("psnr21=%lf\n", value_psnr21);double value_ssim21 = ssim(ref_img21, act_img);printf("ssim21=%lf\n", value_ssim21);double value_psnr11 = psnr(ref_img11, act_img);printf("psnr11=%lf\n", value_psnr11);double value_ssim11 = ssim(ref_img11, act_img);printf("ssim11=%lf\n", value_ssim11);*/getchar();int aa;std::cin >> aa;}void main2(){//char refColor[200];//char refDepth[200];FILE *fp;FILE *fp2;FILE *fp3;char filename[50] = "d:\\psnr_ssim"; // 此处写入文件名 strcat(filename, getNewFileName());strcat(filename, ".txt");ofstream fout(filename);char str0[200][100];char str2[200][100];char str3[200][100];int i, n = 0;system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\ >d:\\cam5.txt");system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\ >d:\\cam7.txt");system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\ >d:\\cam6.txt");fp = fopen("d:\\cam5.txt", "r");fp2 = fopen("d:\\cam7.txt", "r");fp3 = fopen("d:\\cam6.txt", "r");while (1){if (fgets(str0[n], 50, fp) == NULL) break;str0[n][strlen(str0[n]) - 1] = '\0';   // 加一个字符串结束符if (fgets(str2[n], 50, fp2) == NULL) break;str2[n][strlen(str2[n]) - 1] = '\0';   // 加一个字符串结束符if (fgets(str3[n], 50, fp3) == NULL) break;str3[n][strlen(str3[n]) - 1] = '\0';   // 加一个字符串结束符n++;}n--;fclose(fp);fclose(fp2);fclose(fp3);double value_psnr01 = 0;double value_ssim01 = 0;double value_psnr21 = 0;double value_ssim21 = 0;double value_psnr11 = 0;double value_ssim11 = 0;for (i = 0; i < 100; i++){char refColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\";char refDepth[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\";char refColor2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\";char refDepth2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\";char calibParam[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt";char actColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\";strcat(refColor, str0[i]);strcat(refDepth, str0[i + 100]);strcat(refColor2, str2[i]);strcat(refDepth2, str2[i + 100]);strcat(actColor, str3[i]);/*printf("%s\n",refColor);printf("%s\n",refDepth);printf("%s\n", refColor2);printf("%s\n", refDepth2);printf("%s\n", actColor);*/dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor, 5, 7, 6);char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg";char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg";char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg";value_psnr01 += psnr(ref_img01, act_img);printf("psnr01=%lf\n", value_psnr01 / (i + 1));fout << value_psnr01 / (i + 1)<<"\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim01 += ssim(ref_img01, act_img);printf("ssim01=%lf\n", value_ssim01 / (i + 1));fout << value_ssim01 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_psnr21 += psnr(ref_img21, act_img);printf("psnr21=%lf\n", value_psnr21 / (i + 1));fout << value_psnr21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim21 += ssim(ref_img21, act_img);printf("ssim21=%lf\n", value_ssim21 / (i + 1));fout << value_ssim21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_psnr11 += psnr(ref_img11, act_img);printf("psnr11=%lf\n", value_psnr11 / (i + 1));fout << value_psnr11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去value_ssim11 += ssim(ref_img11, act_img);printf("ssim11=%lf\n", value_ssim11 / (i + 1));fout << value_ssim11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去fout << endl;}cout << "完啦！！！！！！！！！！！！！";cin >> i;/*char *refColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\color-cam5-f000.jpg";char *refDepth = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\depth-cam5-f000.png";char *refColor2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\color-cam7-f000.jpg";char *refDepth2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\depth-cam7-f000.png";char *calibParam = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt";char *actColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\color-cam6-f000.jpg";char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg";char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg";char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg";dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor);double value_psnr01 = psnr(ref_img01, act_img);printf("psnr01=%lf\n", value_psnr01);double value_ssim01 = ssim(ref_img01, act_img);printf("ssim01=%lf\n", value_ssim01);double value_psnr21 = psnr(ref_img21, act_img);printf("psnr21=%lf\n", value_psnr21);double value_ssim21 = ssim(ref_img21, act_img);printf("ssim21=%lf\n", value_ssim21);double value_psnr11 = psnr(ref_img11, act_img);printf("psnr11=%lf\n", value_psnr11);double value_ssim11 = ssim(ref_img11, act_img);printf("ssim11=%lf\n", value_ssim11);*/getchar();int aa;std::cin >> aa;}#endif