虚拟视点图像生成011

经过几天的学习测试，并行程序初见成效，GPU高性能变成CUDA实战确实是初学者的福音，下面两个程序是初次编写的cuda程序，并不完整，还需要完善的。

/*提出的算法*/#ifndef _wrapingOf3D1#define _wrapingOf3D1#include "cuda_runtime.h"#include "device_launch_parameters.h"//#include "cuda.h"#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];//YYYYMMDDhhmmssint ttt = 1;char *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;}__device__ int pround_off(double x){int temp = (int)(x + 0.5);return temp;}double max1(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 = max1(max1(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;}/***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;typedef struct {double m_K[9]; // 3x3 intrinsic matrixdouble m_RotMatrix[9]; // rotation matrixdouble m_Trans[3]; // translation vectordouble m_ProjMatrix[16]; // projection matrix} pCalibStruct;/***define globle variables*/CalibStruct m_CalibParams[8];pCalibStruct *devm_CalibParams;int m_NumCameras = 8;int m_Width = 1024, m_Height = 768; // camera resolution is 1024x768double pts[8][3];double ppts[24];double *devpts;/***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;}__device__ double pDepthLevelToZ(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;}__device__ unsigned char pZToDepthLever(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__device__ void pprojUVZtoXY(double *projMatrix, double u, double v, double z, double *x, double *y){double c0, c1, c2;// image (0,0) is bottom lefthand cornerint mheight = 768;v = (double)mheight - v - 1.0;c0 = z*projMatrix[2] + projMatrix[3];c1 = z*projMatrix[6] + projMatrix[7];c2 = z*projMatrix[10] + projMatrix[11];*y = u*(c1*projMatrix[8] - projMatrix[4] * c2) +v*(c2*projMatrix[0] - projMatrix[8] * c0) +projMatrix[4] * c0 - c1*projMatrix[0];*y /= v*(projMatrix[8] * projMatrix[1] - projMatrix[9] * projMatrix[0]) +u*(projMatrix[4] * projMatrix[9] - projMatrix[5] * projMatrix[8]) +projMatrix[0] * projMatrix[5] - projMatrix[4] * projMatrix[1];*x = (*y)*(projMatrix[1] - projMatrix[9] * u) + c0 - c2*u;*x /= projMatrix[8] * u - projMatrix[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__device__ double pprojXYZtoUV(double projMatrix[16], double x, double y, double z, double *u, double *v, int devm_Height){double w;*u = projMatrix[0] * x +projMatrix[1] * y +projMatrix[2] * z +projMatrix[3];*v = projMatrix[4] * x +projMatrix[5] * y +projMatrix[6] * z +projMatrix[7];w = projMatrix[8] * x +projMatrix[9] * y +projMatrix[10] * z +projMatrix[11];*u /= w;*v /= w;// image (0,0) is bottom lefthand corner*v = (double)devm_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]);}}__device__ void ppointProject_from_ref_to_otherView(pCalibStruct *devm_CalibParams, double *devpts, int ref, int u, int v, unsigned char d){double x, y, z = pDepthLevelToZ(d);//printf("Testing projection of pt (%d,%d) in camera 0 with d = %d (z = %f) to other cameras\n", u, v, d, z);pprojUVZtoXY(devm_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<24; cam++){devpts[cam] = 0;}for (int cam = 0; cam<8; cam++){//pt[2] = projXYZtoUV(devm_CalibParams[cam].m_ProjMatrix, x, y, z, &pt[0], &pt[1]);devpts[cam * 3 + 2] = pprojXYZtoUV(devm_CalibParams[cam].m_ProjMatrix, x, y, z, &devpts[cam * 3], &devpts[cam * 3 + 1], 768);//printf("Camera %d: (%f, %f)\n", cam, pt[0], pt[1]);//pt[2] = ZToDepthLever(pt[2]);devpts[cam * 3 + 2] = pZToDepthLever(devpts[cam * 3 + 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;}}__global__ void pwrapingImage(double * pmatBj, double *devpts, pCalibStruct *devm_CalibParams, int ref, int proj, char *devimageColor, char *devimageDepth, char *devimageColorOut, char *devimageDepthOut, int x, int y, int cols, int rows){int offset = threadIdx.x + blockIdx.x*1024;int offset3 = offset * 3;double d = devimageDepth[offset3 + 0];double devpts1[24];ppointProject_from_ref_to_otherView(devm_CalibParams, devpts1, ref, threadIdx.x, blockIdx.x, d);int u1 = (int)devpts1[proj * 3 + 0];int v1 = (int)devpts1[proj * 3 + 1];int k1 = (int)devpts1[proj * 3 + 2];if (u1 < 0 || u1 >= cols - 1 || v1 < 0 || v1 >= rows - 1)return;if (k1 < devimageDepthOut[offset3])return;devimageColorOut[(v1*cols + u1) * 3 + 0] = devimageColor[offset3 + 0];devimageColorOut[(v1*cols + u1) * 3 + 1] = devimageColor[offset3 + 1];devimageColorOut[(v1*cols + u1) * 3 + 2] = devimageColor[offset3 + 2];devimageDepthOut[(v1*cols + u1) * 3 + 0] = k1;devimageDepthOut[(v1*cols + u1) * 3 + 1] = k1;devimageDepthOut[(v1*cols + u1) * 3 + 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;}}cv::Mat matBj;cv::Mat matBj2;double * pmatBj;double *pmatBj2;void initialmatBj(cv::Mat imageColor){matBj.create(imageColor.rows, imageColor.cols, CV_64FC3);matBj2.create(imageColor.rows, imageColor.cols, CV_64FC3);int size = imageColor.rows*imageColor.cols*imageColor.channels();cudaMalloc((void**)&pmatBj, sizeof(double)*size);cudaMalloc((void**)&pmatBj2, sizeof(double)*size);cudaMemset(pmatBj, 0, sizeof(double)* size);cudaMemset(pmatBj2, 0, sizeof(double)* size);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;matBj2.at<cv::Vec3d>(v, u)[0] = 0;matBj2.at<cv::Vec3d>(v, u)[1] = 0;matBj2.at<cv::Vec3d>(v, u)[2] = 0;}}}void wrapingImageGai3(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut, int x, int y){for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){if (imageDepth.at<cv::Vec3b>(v, u)[0] >= x&&imageDepth.at<cv::Vec3b>(v, u)[0] <= y){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;}else {continue;}}}__global__ void pwrapingImageGai3(double * pmatBj, double *devpts, pCalibStruct *devm_CalibParams, int ref, int proj, char *devimageColor, char *devimageDepth, char *devimageColorOut, char *devimageDepthOut, int x, int y, int cols, int rows){int u = threadIdx.x + blockIdx.x*blockDim.x;int v = threadIdx.y + blockIdx.y*blockDim.y;int offset = u + v*blockDim.x*gridDim.x;int offset3 = offset * 3;double devpts1[24];if (devimageDepth[offset3 + 0] >= x&&devimageDepth[offset3 + 0] <= y){double d = devimageDepth[offset3 + 0];ppointProject_from_ref_to_otherView(devm_CalibParams, devpts1, ref, u, v,d);int u1 = (int)pround_off(devpts1[proj * 3]);int v1 = (int)pround_off(devpts1[proj * 3 + 1]);double xy = (u1 - devpts1[proj * 3])*(u1 - devpts1[proj * 3]) + (v1 - devpts1[proj * 3 + 1])*(v1 - devpts1[proj * 3 + 1]);double z = devpts1[proj * 3 + 2];int k1 = (int)pround_off(devpts1[proj * 3 + 2]);if (u1 < 0 || u1 >= cols - 1 || v1 < 0 || v1 >= rows - 1)return;if (int(pmatBj[(v1*cols + u1) * 3 + 2]) != 0 && z < pmatBj[(v1*cols + u1) * 3 + 1])return;if (z == pmatBj[(v1*cols + u1) * 3 + 1] && int(pmatBj[(v1*cols + u1) * 3 + 2]) != 0 && xy > pmatBj[(v1*cols + u1) * 3 + 0])return;devimageColorOut[(v1*cols + u1) * 3 + 0] = devimageColor[offset3 + 0];devimageColorOut[(v1*cols + u1) * 3 + 1] = devimageColor[offset3 + 1];devimageColorOut[(v1*cols + u1) * 3 + 2] = devimageColor[offset3 + 2];devimageDepthOut[(v1*cols + u1) * 3 + 0] = k1;devimageDepthOut[(v1*cols + u1) * 3 + 1] = k1;devimageDepthOut[(v1*cols + u1) * 3 + 2] = k1;pmatBj[(v1*cols + u1) * 3 + 0] = xy;pmatBj[(v1*cols + u1) * 3 + 1] = z;pmatBj[(v1*cols + u1) * 3 + 2] = 1;}else {return;}}void wrapingImageGai4(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut, int x, int y){for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){if (imageDepth.at<cv::Vec3b>(v, u)[0] >= x&&imageDepth.at<cv::Vec3b>(v, u)[0] <= y){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(matBj2.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj2.at<cv::Vec3d>(v1, u1)[1])continue;if (z == matBj2.at<cv::Vec3d>(v1, u1)[1] && int(matBj2.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj2.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;matBj2.at<cv::Vec3d>(v1, u1)[0] = xy;matBj2.at<cv::Vec3d>(v1, u1)[1] = z;matBj2.at<cv::Vec3d>(v1, u1)[2] = 1;}else {continue;}}}void pwrapingImageGai4(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut, int x, int y){for (int v = 0; v < imageColor.rows; v++)for (int u = 0; u < imageColor.cols; u++){if (imageDepth.at<cv::Vec3b>(v, u)[0] >= x&&imageDepth.at<cv::Vec3b>(v, u)[0] <= y){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(matBj2.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj2.at<cv::Vec3d>(v1, u1)[1])continue;if (z == matBj2.at<cv::Vec3d>(v1, u1)[1] && int(matBj2.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj2.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;matBj2.at<cv::Vec3d>(v1, u1)[0] = xy;matBj2.at<cv::Vec3d>(v1, u1)[1] = z;matBj2.at<cv::Vec3d>(v1, u1)[2] = 1;}else {continue;}}}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 > tw*tw / 2){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 digit//int aa;//std::cin >> aa;//read color image and depth image of refrencecudaMalloc((void**)&devm_CalibParams, 8 * sizeof(pCalibStruct));cudaMemcpy(devm_CalibParams, m_CalibParams, 8 * sizeof(pCalibStruct), cudaMemcpyHostToDevice);cv::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 camint size = imageColor.rows*imageColor.cols*imageColor.channels();char *pimageColor = (char*)malloc(sizeof(char)*size);char *pimageDepth = (char*)malloc(sizeof(char)*size);char *pimageColor2 = (char*)malloc(sizeof(char)*size);char *pimageDepth2 = (char*)malloc(sizeof(char)*size);char *pimageColor_actual = (char*)malloc(sizeof(char)*size);char *devimageColor;char *devimageDepth;char *devimageColor2;char *devimageDepth2;char *devimageColor_actual;cudaMalloc((void**)&devimageColor, sizeof(char)*size);cudaMalloc((void**)&devimageColor2, sizeof(char)*size);cudaMalloc((void**)&devimageDepth, sizeof(char)*size);cudaMalloc((void**)&devimageDepth2, sizeof(char)*size);cudaMalloc((void**)&devimageColor_actual, sizeof(char)*size);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){*pimageColor = imageColor.at<cv::Vec3b>(v, u)[0];pimageColor++;*pimageColor = imageColor.at<cv::Vec3b>(v, u)[1];pimageColor++;*pimageColor = imageColor.at<cv::Vec3b>(v, u)[2];pimageColor++;*pimageColor2 = imageColor2.at<cv::Vec3b>(v, u)[0];pimageColor2++;*pimageColor2 = imageColor2.at<cv::Vec3b>(v, u)[1];pimageColor2++;*pimageColor2 = imageColor2.at<cv::Vec3b>(v, u)[2];pimageColor2++;*pimageDepth = imageDepth.at<cv::Vec3b>(v, u)[0];pimageDepth++;*pimageDepth = imageDepth.at<cv::Vec3b>(v, u)[1];pimageDepth++;*pimageDepth = imageDepth.at<cv::Vec3b>(v, u)[2];pimageDepth++;*pimageDepth2 = imageDepth2.at<cv::Vec3b>(v, u)[0];pimageDepth2++;*pimageDepth2 = imageDepth2.at<cv::Vec3b>(v, u)[1];pimageDepth2++;*pimageDepth2 = imageDepth2.at<cv::Vec3b>(v, u)[2];pimageDepth2++;*pimageColor_actual = imageColor_actual.at<cv::Vec3b>(v, u)[0];pimageColor_actual++;*pimageColor_actual = imageColor_actual.at<cv::Vec3b>(v, u)[1];pimageColor_actual++;*pimageColor_actual = imageColor_actual.at<cv::Vec3b>(v, u)[2];pimageColor_actual++;}}pimageColor = pimageColor - sizeof(char)*size;pimageColor2 = pimageColor2 - sizeof(char)*size;pimageDepth = pimageDepth - sizeof(char)*size;pimageDepth2 = pimageDepth2 - sizeof(char)*size;pimageColor_actual = pimageColor_actual - sizeof(char)*size;cudaMemcpy(devimageColor, pimageColor, sizeof(char)*size, cudaMemcpyHostToDevice);cudaMemcpy(devimageColor2, pimageColor2, sizeof(char)*size, cudaMemcpyHostToDevice);cudaMemcpy(devimageDepth, pimageDepth, sizeof(char)*size, cudaMemcpyHostToDevice);cudaMemcpy(devimageDepth2, pimageDepth2, sizeof(char)*size, cudaMemcpyHostToDevice);cudaMemcpy(devimageColor_actual, pimageColor_actual, sizeof(char)*size, cudaMemcpyHostToDevice);//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;cv::Mat imageDepthOut3;//存储暂时深度图cv::Mat imageColorOut4;//存储暂时彩色图char *pimageColorOut;char *pimageColorOut2;char *pimageColorOut3;char *pimageDepthOut;char *pimageDepthOut2;char *pimageDepthOut3;char *pimageColorOut4;char *devimageColorOut;char *devimageColorOut2;char *devimageColorOut3;char *devimageDepthOut;char *devimageDepthOut2;char *devimageDepthOut3;char *devimageColorOut4;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());imageDepthOut3.create(imageColor.rows, imageColor.cols, imageColor.type());imageColorOut4.create(imageColor.rows, imageColor.cols, imageColor.type());pimageColorOut = (char*)malloc(sizeof(char)*size);pimageColorOut2 = (char*)malloc(sizeof(char)*size);pimageColorOut3 = (char*)malloc(sizeof(char)*size);pimageDepthOut = (char*)malloc(sizeof(char)*size);pimageDepthOut2 = (char*)malloc(sizeof(char)*size);pimageDepthOut3 = (char*)malloc(sizeof(char)*size);pimageColorOut4 = (char*)malloc(sizeof(char)*size);cudaMalloc((void**)&devimageColorOut, sizeof(char)*size);cudaMalloc((void**)&devimageColorOut2, sizeof(char)*size);cudaMalloc((void**)&devimageColorOut3, sizeof(char)*size);cudaMalloc((void**)&devimageDepthOut, sizeof(char)*size);cudaMalloc((void**)&devimageDepthOut2, sizeof(char)*size);cudaMalloc((void**)&devimageDepthOut3, sizeof(char)*size);cudaMalloc((void**)&devimageColorOut4, sizeof(char)*size);cudaMemset(devimageColorOut, 0, size*sizeof(char));cudaMemset(devimageColorOut2, 0, size*sizeof(char));cudaMemset(devimageColorOut3, 0, size*sizeof(char));cudaMemset(devimageDepthOut, 0, size*sizeof(char));cudaMemset(devimageDepthOut2, 0, size*sizeof(char));cudaMemset(devimageDepthOut3, 0, size*sizeof(char));cudaMemset(devimageColorOut4, 0, size*sizeof(char));memset(pimageColorOut, 0, sizeof(char)*size);memset(pimageColorOut2, 0, sizeof(char)*size);memset(pimageColorOut3, 0, sizeof(char)*size);memset(pimageDepthOut, 0, sizeof(char)*size);memset(pimageDepthOut2, 0, sizeof(char)*size);memset(pimageDepthOut3, 0, sizeof(char)*size);memset(pimageColorOut4, 0, sizeof(char)*size);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;imageDepthOut3.at<cv::Vec3b>(v, u)[0] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[1] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut4.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);*/initialmatBj(imageColor);for (int i = 0; i<8; i++)for (int j = 0; j<3; j++){ppts[3 * i + j] = pts[i][j];}cudaMalloc((void**)&devpts, 24 * sizeof(double));cudaMemcpy(devpts, ppts, 24 * sizeof(double), cudaMemcpyHostToDevice);for (int m = 0; m < 8; m++){int t1 = 32 * m;int t2 = 32 * (m + 1);dim3 grids(imageColor.cols / 16, imageColor.rows / 16);dim3 threads(16, 16);pwrapingImageGai3 << <grids, threads >> >(pmatBj, devpts, devm_CalibParams, ref, proj, devimageColor, devimageDepth, devimageColorOut4, devimageDepthOut3, t1, t2, imageColor.cols, imageColor.rows);//pwrapingImage(pmatBj, devpts, devm_CalibParams, ref, proj, devimageColor, devimageDepth, devimageColorOut4, devimageDepthOut3, t1, t2, imageColor.cols, imageColor.rows);cudaMemcpy(pimageColorOut4, devimageColorOut4, sizeof(char)*size, cudaMemcpyDeviceToHost);cudaMemcpy(pimageDepthOut3, devimageDepthOut3, sizeof(char)*size, cudaMemcpyDeviceToHost);int wang = 0;for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){imageColorOut4.at<cv::Vec3b>(v, u)[0] = pimageColorOut4[wang];imageDepthOut3.at<cv::Vec3b>(v, u)[0] = pimageDepthOut3[wang];wang++;imageColorOut4.at<cv::Vec3b>(v, u)[1] = pimageColorOut4[wang];imageDepthOut3.at<cv::Vec3b>(v, u)[1] = pimageDepthOut3[wang];wang++;imageColorOut4.at<cv::Vec3b>(v, u)[2] = pimageColorOut4[wang];imageDepthOut3.at<cv::Vec3b>(v, u)[2] = pimageDepthOut3[wang];wang++;}}fillMedian(imageColorOut4, 3);fillMedian(imageDepthOut3, 3);fillMedian(imageColorOut4, 3);fillMedian(imageDepthOut3, 3);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){if (imageDepthOut3.at<cv::Vec3b>(v, u)[0] == 0 && imageDepthOut3.at<cv::Vec3b>(v, u)[1] == 0 && imageDepthOut3.at<cv::Vec3b>(v, u)[2] == 0)continue;imageColorOut.at<cv::Vec3b>(v, u) = imageColorOut4.at<cv::Vec3b>(v, u);imageDepthOut.at<cv::Vec3b>(v, u) = imageDepthOut3.at<cv::Vec3b>(v, u);imageDepthOut3.at<cv::Vec3b>(v, u)[0] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[1] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[2] = 0;}}wrapingImageGai4(ref2, proj, imageColor2, imageDepth2, imageColorOut4, imageDepthOut3, t1, t2);fillMedian(imageColorOut4, 3);fillMedian(imageDepthOut3, 3);fillMedian(imageColorOut4, 3);fillMedian(imageDepthOut3, 3);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){if (imageDepthOut3.at<cv::Vec3b>(v, u)[0] == 0 && imageDepthOut3.at<cv::Vec3b>(v, u)[1] == 0 && imageDepthOut3.at<cv::Vec3b>(v, u)[2] == 0)continue;imageColorOut2.at<cv::Vec3b>(v, u) = imageColorOut4.at<cv::Vec3b>(v, u);imageDepthOut2.at<cv::Vec3b>(v, u) = imageDepthOut3.at<cv::Vec3b>(v, u);imageDepthOut3.at<cv::Vec3b>(v, u)[0] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[1] = 0;imageDepthOut3.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut4.at<cv::Vec3b>(v, u)[2] = 0;}}}dealXjlk(imageColorOut);dealXjlk(imageColorOut2);dealXjlk(imageColorOut);dealXjlk(imageColorOut2);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;}}}fillMedian(imageColorOut3, 3);fillMedian(imageColorOut3, 3);cv::Mat mask(imageColor.rows, imageColor.cols, CV_8UC1, cv::Scalar(0));//cv::Mat mask = imageColorOut3.create(imageColorOut3.rows, imageColorOut3.cols, CV_8UC1);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){if (imageColorOut3.at<cv::Vec3b>(v, u)[0] != 0 || imageColorOut3.at<cv::Vec3b>(v, u)[1] != 0|| imageColorOut3.at<cv::Vec3b>(v, u)[2] != 0)mask.at<uchar>(v, u) = 0;elsemask.at<uchar>(v, u) = 1;}}cv::inpaint(imageColorOut3, mask, imageColorOut3, 3, cv::INPAINT_TELEA);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg", imageColorOut);//cv::imshow("virtruel_Color_image21", imageColorOut2);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg", imageColorOut2);//cv::imshow("virtruel_Color_image11", imageColorOut3);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg", imageColorOut3);char save_dirr[100] = "D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\";char string[10];char hou[10] = ".jpg";_itoa(ttt++, string, 10);string[strlen(string)] = '\0';hou[strlen(hou)] = '\0';strcat(save_dirr, string);strcat(save_dirr, hou);cv::imwrite(save_dirr, imageColorOut3);////cv::imshow("virtruel_Depth_image", imageDepthOut);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image01.jpg", imageDepthOut);////cv::imshow("virtruel_Depth_image2", imageDepthOut2);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image21.jpg", imageDepthOut2);////display actruel_image//cv::imshow("actruel_image", imageColor_actual);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg", imageColor_actual);}void main(){//char refColor[200];//char refDepth[200];FILE *fp;FILE *fp2;FILE *fp3;char filename[50] = "D:\\jiang\\result\\psnr_ssim"; // 此处写入文件名strcat_s(filename, getNewFileName());strcat_s(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 D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3 >D:\\jiang\\result\\cam3.txt");system("dir /a-d /b D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5 >D:\\jiang\\result\\cam5.txt");system("dir /a-d /b D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4 >D:\\jiang\\result\\cam4.txt");fp = fopen("D:\\jiang\\result\\cam3.txt", "r");fp2 = fopen("D:\\jiang\\result\\cam5.txt", "r");fp3 = fopen("D:\\jiang\\result\\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] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\";char refDepth[200] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\";char refColor2[200] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\";char refDepth2[200] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\";char calibParam[200] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\calibParams-breakdancers.txt";char actColor[200] = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4\\";strcat_s(refColor, str0[i]);strcat_s(refDepth, str0[i + 100]);strcat_s(refColor2, str2[i]);strcat_s(refDepth2, str2[i + 100]);strcat_s(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 = "D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";char *ref_img21 = "D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg";char *ref_img11 = "D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg";char *act_img = "D:\\jiang\\result\\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！！！！！！！！！！！！！";}#endif

这个是处理一帧的程序

#ifndef _wrapingOf3D1#define _wrapingOf3D1#include<iostream>#include<opencv2\opencv.hpp>/***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;typedef struct {double m_K[9]; // 3x3 intrinsic matrixdouble m_RotMatrix[9]; // rotation matrixdouble m_Trans[3]; // translation vectordouble m_ProjMatrix[16]; // projection matrix} devCalibStruct;/***define globle variables*/CalibStruct m_CalibParams[8];devCalibStruct hostm_CalibParams[8];int m_NumCameras = 8;__device__ int devm_NumCameras = 8;int m_Width = 1024, m_Height = 768; // camera resolution is 1024x768__device__ int devm_Width = 1024, devm_Height = 768;/***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*/__device__ double devDepthLevelToZ(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*/__device__ unsigned char devZToDepthLever(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*/__device__ void devprojUVZtoXY(double projMatrix[16], double u, double v, double z, double &x, double &y){double c0, c1, c2;// image (0,0) is bottom lefthand cornerv = (double)devm_Height - v - 1.0;c0 = z*projMatrix[2] + projMatrix[3];c1 = z*projMatrix[6] + projMatrix[7];c2 = z*projMatrix[10] + projMatrix[11];y = u*(c1*projMatrix[8] - projMatrix[4] * c2) +v*(c2*projMatrix[0] - projMatrix[8] * c0) +projMatrix[4] * c0 - c1*projMatrix[0];y /= v*(projMatrix[8] * projMatrix[1] - projMatrix[9] * projMatrix[0]) +u*(projMatrix[4] * projMatrix[9] - projMatrix[5] * projMatrix[8]) +projMatrix[0] * projMatrix[5] - projMatrix[4] * projMatrix[1];x = (y)*(projMatrix[1] - projMatrix[9] * u) + c0 - c2*u;x /= projMatrix[8] * u - projMatrix[0];} // projUVZtoXY/****calcular u,v,z1 depended on x,y,z**z1 is after projection and z is before projection.z1 is return value**/__device__ double devprojXYZtoUV(double projMatrix[16], double x, double y, double z, double *u, double *v){double w;*u = projMatrix[0] * x +projMatrix[1] * y +projMatrix[2] * z +projMatrix[3];*v = projMatrix[4] * x +projMatrix[5] * y +projMatrix[6] * z +projMatrix[7];w = projMatrix[8] * x +projMatrix[9] * y +projMatrix[10] * z +projMatrix[11];*u /= w;*v /= w;// image (0,0) is bottom lefthand corner*v = (double)devm_Height - *v - 1.0;return w;} // projXYZtoUV/****/__device__ void devpointProject_from_ref_to_otherView(devCalibStruct *devm_CalibParams,double *devpts, int ref, int u, int v, unsigned char d){double x=0, y=0;double z = devDepthLevelToZ(d);//printf("Testing projection of pt (%d,%d) in camera 0 with d = %d (z = %f) to other cameras\n", u, v, d, z);devprojUVZtoXY(devm_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 = devpts + cam * 3;pt[2] = devprojXYZtoUV(devm_CalibParams[cam].m_ProjMatrix, x, y, z, &pt[0], &pt[1]);//printf("Camera %d: (%f, %f)\n", cam, pt[0], pt[1]);pt[2] = devZToDepthLever(pt[2]);}}/****wraping image,ref represent reference cam,proj represent projection cam**the kernal code**/__global__ void devwrapingImage(devCalibStruct *devm_CalibParams, double *devpts, int ref, int proj, unsigned char *imageColor, unsigned char *imageDepth, unsigned char *imageColorOut, unsigned char *imageDepthOut){     //   int u = 300; //   int v = 250;//int offset = u + 1024*v;////int offset = u + 1024 * 250;//double d = imageDepth[offset*3+0];//double devpts1[24];//devpointProject_from_ref_to_otherView(devm_CalibParams, devpts1, ref, u, v, d);///*int u1 = (int)devpts[proj*3+0];//int v1 = (int)devpts[proj*3+1];//int k1 = (int)devpts[proj*3+2];//int newoffset = u1 + blockDim.x*gridDim.x*v1;//if (!(u1 < 0 || u1 >= devm_Width - 1 || v1 < 0 || v1 >= devm_Height - 1) && !(k1 < imageDepthOut[newoffset * 3 + 0]))//{//imageColorOut[newoffset * 3 + 0] = imageColor[offset * 3 + 0];//imageColorOut[newoffset * 3 + 1] = imageColor[offset * 3 + 1];//imageColorOut[newoffset * 3 + 2] = imageColor[offset * 3 + 2];//imageDepthOut[newoffset * 3 + 0] = k1;//imageDepthOut[newoffset * 3 + 1] = k1;//imageDepthOut[newoffset * 3 + 2] = k1;//}*//*{imageColorOut[offset * 3 + 0] = imageColor[offset * 3 + 0];imageColorOut[offset * 3 + 1] = imageColor[offset * 3 + 1];imageColorOut[offset * 3 + 2] = imageColor[offset * 3 + 2];imageDepthOut[offset * 3 + 0] = d;imageDepthOut[offset * 3 + 1] = d;imageDepthOut[offset * 3 + 2] = d;}*/int u = threadIdx.x + blockIdx.x*blockDim.x;int v = threadIdx.y + blockIdx.y*blockDim.y;int offset = u + blockDim.x*gridDim.x*v;double devpts1[24];double d = imageDepth[offset * 3 + 0];devpointProject_from_ref_to_otherView(devm_CalibParams, devpts1, ref, u, v, d);int u1 = (int)devpts1[proj * 3 + 0];int v1 = (int)devpts1[proj * 3 + 1];int k1 = (int)devpts1[proj * 3 + 2];int newoffset = u1 + blockDim.x*gridDim.x*v1;if (!(u1 < 0 || u1 >= devm_Width - 1 || v1 < 0 || v1 >= devm_Height - 1) && !(k1 < imageDepthOut[newoffset * 3 + 0])){imageColorOut[newoffset * 3 + 0] = imageColor[offset * 3 + 0];imageColorOut[newoffset * 3 + 1] = imageColor[offset * 3 + 1];imageColorOut[newoffset * 3 + 2] = imageColor[offset * 3 + 2];imageDepthOut[newoffset * 3 + 0] = k1;imageDepthOut[newoffset * 3 + 1] = k1;imageDepthOut[newoffset * 3 + 2] = k1;}}void dipslay(char *calibParam, char *refColor, char *refDepth, char *refColor2, char *refDepth2, char *actColor){//initialize projection_MatrixInitializeFromFile(calibParam);//display projection_Matrixfor (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;}for (int i = 0; i < m_NumCameras; i++){for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++){hostm_CalibParams[i].m_K[j * 3 + k] = m_CalibParams[i].m_K[j][k];}}for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++){hostm_CalibParams[i].m_RotMatrix[j * 3 + k] = m_CalibParams[i].m_RotMatrix[j][k];}}for (int k = 0; k < 3; k++)hostm_CalibParams[i].m_Trans[k] = m_CalibParams[i].m_Trans[k];for (int j = 0; j < 4; j++){for (int k = 0; k < 4; k++){hostm_CalibParams[i].m_ProjMatrix[j * 4 + k] = m_CalibParams[i].m_ProjMatrix[j][k];}}}for (int i = 0; i < m_NumCameras; i++){for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++)std::cout << hostm_CalibParams[i].m_K[j * 3 + k] << "\t";std::cout << std::endl;}for (int j = 0; j < 3; j++){for (int k = 0; k < 3; k++)std::cout << hostm_CalibParams[i].m_RotMatrix[j * 3 + k] << "\t";std::cout << std::endl;}for (int k = 0; k < 3; k++)std::cout << hostm_CalibParams[i].m_Trans[k] << "\t";std::cout << std::endl;std::cout << std::endl;std::cout << std::endl;std::cout << std::endl;}devCalibStruct *devm_CalibParams;    double *devpts;cudaMalloc((void**)&devm_CalibParams, m_NumCameras*sizeof(devCalibStruct));cudaMalloc((void**)&devpts, 24 * sizeof(double));cudaMemcpy(devm_CalibParams, hostm_CalibParams, m_NumCameras*sizeof(devCalibStruct), cudaMemcpyHostToDevice);//set reference camint ref = 0;int ref2 = 2;//set projection camint proj = 1;//suspend and users enter a digit//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);int size = imageColor.cols*imageColor.rows*imageColor.channels();unsigned char *hostimageColor = (unsigned char*)malloc(size*sizeof(unsigned char));unsigned char *hostimageColor2 = (unsigned char*)malloc(size*sizeof(unsigned char));unsigned char *hostimageDepth = (unsigned char*)malloc(size*sizeof(unsigned char));unsigned char *hostimageDepth2 = (unsigned char*)malloc(size*sizeof(unsigned char));for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){int offset = (v*imageColor.cols + u) * 3;hostimageColor[offset + 0] = imageColor.at<cv::Vec3b>(v, u)[0];hostimageColor[offset + 1] = imageColor.at<cv::Vec3b>(v, u)[1];hostimageColor[offset + 2] = imageColor.at<cv::Vec3b>(v, u)[2];hostimageColor2[offset + 0] = imageColor2.at<cv::Vec3b>(v, u)[0];hostimageColor2[offset + 1] = imageColor2.at<cv::Vec3b>(v, u)[1];hostimageColor2[offset + 2] = imageColor2.at<cv::Vec3b>(v, u)[2];hostimageDepth[offset + 0] = imageDepth.at<cv::Vec3b>(v, u)[0];hostimageDepth[offset + 1] = imageDepth.at<cv::Vec3b>(v, u)[1];hostimageDepth[offset + 2] = imageDepth.at<cv::Vec3b>(v, u)[2];hostimageDepth2[offset + 0] = imageDepth2.at<cv::Vec3b>(v, u)[0];hostimageDepth2[offset + 1] = imageDepth2.at<cv::Vec3b>(v, u)[1];hostimageDepth2[offset + 2] = imageDepth2.at<cv::Vec3b>(v, u)[2];}}unsigned char *devimageColor;unsigned char *devimageColor2;unsigned char *devimageDepth;unsigned char *devimageDepth2;cudaMalloc((void**)&devimageColor, size*sizeof(unsigned char));cudaMalloc((void**)&devimageDepth, size*sizeof(unsigned char));cudaMalloc((void**)&devimageColor2, size*sizeof(unsigned char));cudaMalloc((void**)&devimageDepth2, size*sizeof(unsigned char));cudaMemcpy(devimageColor, hostimageColor, size*sizeof(unsigned char), cudaMemcpyHostToDevice);cudaMemcpy(devimageDepth, hostimageDepth, size*sizeof(unsigned char), cudaMemcpyHostToDevice);cudaMemcpy(devimageColor2, hostimageColor, size*sizeof(unsigned char), cudaMemcpyHostToDevice);cudaMemcpy(devimageDepth2, hostimageDepth, size*sizeof(unsigned char), cudaMemcpyHostToDevice);//read true image used to comparecv::Mat imageColor_actual = cv::imread(actColor);//test code//pointProject_from_ref_to_otherView(pts, ref, 700, 700, imageDepth.at<cv::Vec3b>(700, 700)[0]);unsigned char d = imageDepth.at<cv::Vec3b>(300, 250)[0];//devpointProject_from_ref_to_otherView<<<1,1>>>(devm_CalibParams,devpts, ref, 300, 250, d);/*double hostpts[24];cudaMemcpy(hostpts, devpts, sizeof(double)* 24, cudaMemcpyDeviceToHost);for (int i = 0; i < 8; i++){std::cout << hostpts[i*3+0] << "\t" << hostpts[i*3+1] << std::endl;}*///define two variable of outputcv::Mat imageColorOut;cv::Mat imageColorOut2;cv::Mat imageDepthOut;unsigned char *hostimageColorOut = (unsigned char*)malloc(size*sizeof(unsigned char));unsigned char *hostimageColorOut2 = (unsigned char*)malloc(size*sizeof(unsigned char));unsigned char *hostimageDepthOut = (unsigned char*)malloc(size*sizeof(unsigned char));memset(hostimageColorOut, 0, size*sizeof(unsigned char));memset(hostimageColorOut2, 0, size*sizeof(unsigned char));memset(hostimageDepthOut, 0, size*sizeof(unsigned char));unsigned char *devimageColorOut;unsigned char *devimageColorOut2;unsigned char *devimageDepthOut;cudaMalloc((void**)&devimageColorOut, size*sizeof(unsigned char));cudaMalloc((void**)&devimageDepthOut, size*sizeof(unsigned char));cudaMalloc((void**)&devimageColorOut2, size*sizeof(unsigned char));cudaMemset(devimageColorOut, 0, size*sizeof(unsigned char));cudaMemset(devimageColorOut2, 0, size*sizeof(unsigned char));cudaMemset(devimageDepthOut, 0, size*sizeof(unsigned char));imageColorOut.create(imageColor.rows, imageColor.cols, imageColor.type());imageColorOut2.create(imageColor.rows, imageColor.cols, imageColor.type());imageDepthOut.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;imageColorOut2.at<cv::Vec3b>(v, u)[2] = 0;imageColorOut2.at<cv::Vec3b>(v, u)[0] = 0;imageColorOut2.at<cv::Vec3b>(v, u)[1] = 0;imageColorOut.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;}}//save_dirchar *save_dir = "D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue";//wraping from reference view to virtruel view /*wrapingImage(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut, imageDepthOut);*/dim3 grids(1024/16,768/16);dim3 threads(16,16);devwrapingImage<<<grids,threads>>>(devm_CalibParams, devpts, ref, proj, devimageColor, devimageDepth, devimageColorOut, devimageDepthOut);/*double hostpts[24];cudaMemcpy(hostpts, devpts, sizeof(double)* 24, cudaMemcpyDeviceToHost);for (int i = 0; i < 8; i++){std::cout << hostpts[i * 3 + 0] << "\t" << hostpts[i * 3 + 1] << std::endl;}*///devwrapingImage << <grids,threads>> >(devm_CalibParams, devpts, ref2, proj, devimageColor2, devimageDepth2, devimageColorOut, devimageDepthOut);cudaMemcpy(hostimageColorOut, devimageColorOut, size*sizeof(unsigned char), cudaMemcpyDeviceToHost);cudaMemcpy(hostimageDepthOut, devimageDepthOut, size*sizeof(unsigned char), cudaMemcpyDeviceToHost);cudaMemcpy(hostimageColorOut2, devimageColorOut2, size*sizeof(unsigned char), cudaMemcpyDeviceToHost);for (int v = 0; v < imageColor.rows; v++){for (int u = 0; u < imageColor.cols; u++){int offset = (v*imageColor.cols + u) * 3;imageColorOut.at<cv::Vec3b>(v, u)[0] = hostimageColorOut[offset + 0];imageColorOut.at<cv::Vec3b>(v, u)[1] = hostimageColorOut[offset + 1];imageColorOut.at<cv::Vec3b>(v, u)[2] = hostimageColorOut[offset + 2];/*imageColorOut2.at<cv::Vec3b>(v, u)[0] = hostimageColorOut2[offset + 0];imageColorOut2.at<cv::Vec3b>(v, u)[1] = hostimageColorOut2[offset + 1];imageColorOut2.at<cv::Vec3b>(v, u)[2] = hostimageColorOut2[offset + 2];*/imageDepthOut.at<cv::Vec3b>(v, u)[0] = hostimageDepthOut[offset + 0];imageDepthOut.at<cv::Vec3b>(v, u)[1] = hostimageDepthOut[offset + 1];imageDepthOut.at<cv::Vec3b>(v, u)[2] = hostimageDepthOut[offset + 2];//std::cout << (int)imageColorOut.at<cv::Vec3b>(v, u)[0]<<"  ";}}//display reference_image/*cv::imshow("reference_image", imageColor);cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\reference_image.jpg", imageColor);*///display virtruel_imagecv::medianBlur(imageColorOut, imageColorOut, 3);cv::imshow("virtruel_Color_image01", imageColorOut);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg", imageColorOut);////display virtruel_image//cv::imshow("virtruel_Color_image21", imageColorOut2);//cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg", imageColorOut2);//display virtruel_imagecv::medianBlur(imageDepthOut, imageDepthOut, 3);cv::imshow("virtruel_Depth_image", imageDepthOut);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image.jpg", imageDepthOut);//display actruel_imagecv::imshow("actruel_image", imageColor_actual);cv::imwrite("D:\\jiang\\result\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg", imageColor_actual);cv::waitKey();}void main(){char *refColor = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam0\\color-cam0-f000.jpg";char *refDepth = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam0\\depth-cam0-f000.png";char *refColor2 = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam2\\color-cam2-f000.jpg";char *refDepth2 = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam2\\depth-cam2-f000.png";char *calibParam = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\calibParams-breakdancers.txt";char *actColor = "D:\\jiang\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam1\\color-cam1-f000.jpg";dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor);}#endif