虚拟视点图像生成012

马上要毕业了，比较忙，有半年多没有更新博客了，在毕业之际，对以前写的代码进行整理封装，以备后来者改进，希望长江后浪推前浪，一代更比一点强！

整理原有代码，封装为c++类的形式。

分为三个类：即配置类、点映射类和图像映射类。一个基础函数库。一个demo。一个配置文件。

主函数接口：main_virtual_viewpoint_rendering.cpp

基于函数库：base_function.h base_function.cpp

配置类：configure.h configure.cpp

点映射类：point_mapping.h point_mapping.cpp

图像映射类：image_mapping.h image_mapping.cpp

配置文件：conf_file.txt

main_virtual_viewpoint_rendering.cpp

#include "configure.h"#include "image_mapping.h"#include "base_function.h"#include <fstream>#include <iostream>using namespace std;int main(){Configure cfg("D:\\virtual_viewpoint_rendering\\conf\\conf_file.txt");char filename[100];strcpy(filename, cfg.m_psnr_ssim_file);char time_buf[15];strcat_s(filename, getNewFileName(time_buf));strcat_s(filename, ".txt");ofstream fout(filename);ImageMapping imgmp(&cfg);char str_left[200][200];char str_right[200][200];char str_virtual[200][200];double value_psnr = 0;double value_ssim = 0;getArrayOfImageFile(&cfg, str_left, str_right, str_virtual);for (int i = 0; i < 100; i++){imgmp.process(str_left[i], str_left[i + 100], str_right[i], str_right[i+100]);value_psnr += psnr(imgmp.save_dirr, str_virtual[i]);printf("psnr=%lf\n", value_psnr / (i + 1));fout << value_psnr / (i + 1) << "\t"; value_ssim += ssim(imgmp.save_dirr, str_virtual[i]);printf("ssim=%lf\n", value_ssim / (i + 1));fout << value_ssim / (i + 1) << "\t"; fout << endl;}cout << "process finished!!!!!!!!!!!!!!!!!!!!!!!!"<<endl;cout << "******************************************************************"<<endl;fout << "process finished!!!!!!!!!!!!!!!!!!!!!!!!"<<endl;fout << "*****************************************************************" << endl;return 0;}

base_function.h

#ifndef __base_function__#define __base_function__#include "configure.h"#include "opencv2/imgproc/imgproc.hpp"#include "opencv2/highgui/highgui.hpp"#include <time.h>#include <stdio.h>#include <math.h>#include <cv.h>using namespace std;char *getNewFileName(char time_buf[15]/*YYYYMMDDhhmmss*/);double round_off(double x);double max(double x, double y);double ssim(char *ref_image, char *obj_image);double psnr(char *ref_image, char *obj_image);void getArrayOfImageFile(Configure *cfg, char str_left[200][200], char str_right[200][200], char str_virtual[200][200]);#endif //__base_function__

base_function.cpp

#include "base_function.h"char *getNewFileName(char time_buf[15]/*YYYYMMDDhhmmss*/){time_t aclock;time(&aclock);strftime(time_buf, 15, "%Y%m%d%H%M%S", localtime(&aclock));//printf("%s\n", tmpbuf);return time_buf;}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;}void getArrayOfImageFile(Configure *cfg, char str_left[200][200], char str_right[200][200], char str_virtual[200][200]){FILE *fp_left; FILE *fp_right; FILE *fp_virtual;int n = 0;char tmp_str[200];sprintf(tmp_str, "dir /a-d /b %s >%s\\cam%d.txt", cfg->m_ref_left_path, cfg->m_store_path, cfg->m_left_viewpoint);system(tmp_str);sprintf(tmp_str, "dir /a-d /b %s >%s\\cam%d.txt", cfg->m_ref_right_path, cfg->m_store_path, cfg->m_right_viewpoint);system(tmp_str);sprintf(tmp_str, "dir /a-d /b %s >%s\\cam%d.txt", cfg->m_acture_path, cfg->m_store_path, cfg->m_virtual_viewpoint);system(tmp_str);sprintf(tmp_str, "%s\\cam%d.txt", cfg->m_store_path, cfg->m_left_viewpoint);fp_left = fopen(tmp_str, "r");sprintf(tmp_str, "%s\\cam%d.txt", cfg->m_store_path, cfg->m_right_viewpoint);fp_right = fopen(tmp_str, "r");sprintf(tmp_str, "%s\\cam%d.txt", cfg->m_store_path, cfg->m_virtual_viewpoint);fp_virtual = fopen(tmp_str, "r");while (1){if (fgets(str_left[n], 100, fp_left) == NULL) break;str_left[n][strlen(str_left[n]) - 1] = '\0';memset(tmp_str,0,200);strcat_s(tmp_str, cfg->m_ref_left_path);strcat_s(tmp_str, str_left[n]);strcpy(str_left[n],tmp_str);if (fgets(str_right[n], 100, fp_right) == NULL) break;str_right[n][strlen(str_right[n]) - 1] = '\0';memset(tmp_str, 0, 200);strcat_s(tmp_str, cfg->m_ref_right_path);strcat_s(tmp_str, str_right[n]);strcpy(str_right[n], tmp_str);if (fgets(str_virtual[n], 50, fp_virtual) == NULL) break;str_virtual[n][strlen(str_virtual[n]) - 1] = '\0';memset(tmp_str, 0, 200);strcat_s(tmp_str, cfg->m_acture_path);strcat_s(tmp_str, str_virtual[n]);strcpy(str_virtual[n], tmp_str);n++;}fclose(fp_left); fclose(fp_right); fclose(fp_virtual);}

configure.h

#ifndef __configure__#define __configure__#include "type.h"class Configure{public:Configure(char *conf_file);~Configure();private:void InitializeFromFile(char *fileName);void allocMemory(char *fileName);void readCalibrationFile(char *fileName);void computeProjectionMatrices();void releaseMemory();public:CalibStruct *m_CalibParams;//store parameter of viewpoint .int m_NumCameras; //the number of viewpointint m_Width; //image widthint m_Height; // image heightdouble m_Z_Min; //minimum distance of actual zdouble m_Z_Max; //maximum  distance of actual zint m_left_viewpoint;// left reference viewpointint m_right_viewpoint;//right reference viewpointint m_virtual_viewpoint;//synthesis viewpointchar m_store_path[200];//image store pathchar m_ref_left_path[200];//left reference image path char m_ref_right_path[200];//right reference image pathchar m_acture_path[200];//acture image pathchar m_parameter_cam_file[200];//camera parameter filechar m_psnr_ssim_file[200];//store psnr and ssim about according image};#endif //__configure__

configure.cpp

#include "configure.h"#include <iostream>#include <iomanip>#include <fstream>using namespace std;Configure::Configure(char *conf_file){allocMemory(conf_file);}Configure::~Configure(){releaseMemory();}void Configure::allocMemory(char *fileName){char buffer[256];ifstream myfile(fileName);if (!myfile){cout << "Unable to open myfile";exit(1); // terminate with error}while (!myfile.eof()){myfile.getline(buffer, 100);if (strcmp(buffer, "#Z_Min_Max") == 0){myfile.getline(buffer, 30);sscanf(buffer, "%lf\t%lf", &m_Z_Min, &m_Z_Max);}else if (strcmp(buffer, "#Image_Width_Height") == 0){myfile.getline(buffer, 30);sscanf(buffer, "%d\t%d", &m_Width, &m_Height);}else if (strcmp(buffer, "#Number_camera") == 0){myfile.getline(buffer, 30);sscanf(buffer, "%d", &m_NumCameras);}else if (strcmp(buffer, "#Left_right_synthesis") == 0){myfile.getline(buffer, 30);sscanf(buffer, "%d\t%d\t%d", &m_left_viewpoint, &m_right_viewpoint, &m_virtual_viewpoint);}else if (strcmp(buffer, "#Store_path") == 0){myfile.getline(buffer, 100);sscanf(buffer, "%s", m_store_path);}else if (strcmp(buffer, "#Left_image_path") == 0){myfile.getline(buffer, 200);sscanf(buffer, "%s", m_ref_left_path);}else if (strcmp(buffer, "#Right_image_path") == 0){myfile.getline(buffer, 200);sscanf(buffer, "%s", m_ref_right_path);}else if (strcmp(buffer, "#Acture_image_path") == 0){myfile.getline(buffer, 200);sscanf(buffer, "%s", m_acture_path);}else if (strcmp(buffer, "#Parameter_cam_file") == 0){myfile.getline(buffer, 200);sscanf(buffer, "%s", m_parameter_cam_file);}else if (strcmp(buffer, "#Store_psnr_ssim_file") == 0){myfile.getline(buffer, 200);sscanf(buffer, "%s", m_psnr_ssim_file);}}myfile.close();m_CalibParams = (CalibStruct *)malloc(sizeof(CalibStruct) * m_NumCameras);InitializeFromFile(m_parameter_cam_file);}void Configure::releaseMemory(){free(m_CalibParams);m_CalibParams = NULL;/*add this sentence*/}void Configure::InitializeFromFile(char *fileName){readCalibrationFile(fileName);computeProjectionMatrices();}void Configure::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);}}void Configure::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;}}

point_mapping.h

#ifndef __point_mapping__#define __point_mapping__#include "configure.h"class PointMapping{public:PointMapping(Configure *cfg);~PointMapping();void setValue(int u, int v, int d, int ref, int tgt);void projectionReftoTgt();private:double DepthLevelToZ(unsigned char d);unsigned char ZToDepthLever(double z);void projectionUVZtoXY(double projMatrix[4][4], double u, double v, double z, double *x, double *y);double projectionXYZtoUV(double projMatrix[4][4], double x, double y, double z, double *u, double *v);public:int m_reference_viewpoint;int m_u;int m_v;int m_d;int m_target_viewpoint;double m_u_t;double m_v_t;double m_d_t;double m_z_t;private:Configure *m_cfg_pm;double m_Z_min_pm;double m_Z_max_pm;int m_Height_pm;};#endif

point_mapping.cpp

#include "point_mapping.h"PointMapping::PointMapping(Configure *cfg){m_Z_min_pm = cfg->m_Z_Min;m_Z_max_pm = cfg->m_Z_Max;m_Height_pm = cfg->m_Height;m_cfg_pm = cfg;}PointMapping::~PointMapping(){}void PointMapping::setValue(int u, int v, int d, int ref, int tgt){m_u = u;m_v = v;m_d = d;m_reference_viewpoint = ref;m_target_viewpoint = tgt;}double PointMapping::DepthLevelToZ(unsigned char d){double z;z = 1.0 / ((d / 255.0)*(1.0 / m_Z_min_pm - 1.0 / m_Z_max_pm) + 1.0 / m_Z_max_pm);return z;}unsigned char PointMapping::ZToDepthLever(double z){unsigned char d;d = (unsigned char)(255.0*(1 / (double)z - 1 / m_Z_max_pm) / (1 / m_Z_min_pm - 1 / m_Z_max_pm));return d;}void PointMapping::projectionUVZtoXY(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_pm - 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];}double PointMapping::projectionXYZtoUV(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_pm - *v - 1.0;return w;}void PointMapping::projectionReftoTgt(){double x, y, z = DepthLevelToZ(m_d);projectionUVZtoXY(m_cfg_pm->m_CalibParams[m_reference_viewpoint].m_ProjMatrix, (double)m_u, (double)m_v, z, &x, &y);m_z_t = projectionXYZtoUV(m_cfg_pm->m_CalibParams[m_target_viewpoint].m_ProjMatrix, x, y, z, &m_u_t, &m_v_t);m_d_t = ZToDepthLever(m_z_t);}

image_mapping.h 

#ifndef __image_mapping__#define __image_mapping__#include "point_mapping.h"#include<opencv2/opencv.hpp>class ImageMapping{public:ImageMapping(Configure *cfg);~ImageMapping();void readAndSetImage(char *ref_c_1,char *ref_d_1,char *ref_c_2,char *ref_d_2);void setArraytoImage(unsigned char *image_out_c, cv::Mat imageColorOut);void storeImage(cv::Mat imageColorOut);virtual void imageFusion(unsigned char *image_c1, unsigned char *image_c2, unsigned char *image_c3);virtual void map(unsigned char *c_image_in, double *d_image_in, unsigned char *c_image_out, double *d_image_out, int ref, int tgt);virtual void process(char *ref_c_1, char *ref_d_1, char *ref_c_2, char *ref_d_2);void resetMemory();public:char save_dirr[200];private:Configure *m_cfg_im;PointMapping *m_pm_im;cv::Mat imageColorOut;unsigned char *image_in_c1;double *image_in_d1;unsigned char *image_in_c2;double *image_in_d2;unsigned char *image_out_c1;double *image_out_d1;unsigned char *image_out_c2;double *image_out_d2;unsigned char *image_out_c;double *image_out_d;int memofImage;};#endif //__image_mapping__

image_mapping.cpp

#include "image_mapping.h"ImageMapping::ImageMapping(Configure *cfg){m_cfg_im = cfg;int sizeofImage = m_cfg_im->m_Width * m_cfg_im->m_Height;memofImage = sizeofImage * 3;m_pm_im = new PointMapping(cfg);image_in_c1 = (unsigned char *)malloc(sizeof(unsigned char)*memofImage);image_in_d1 = (double *)malloc(sizeof(double)*memofImage);image_in_c2 = (unsigned char *)malloc(sizeof(unsigned char)*memofImage);image_in_d2 = (double *)malloc(sizeof(double)*memofImage);image_out_c1 = (unsigned char *)malloc(sizeof(unsigned char)*memofImage);image_out_d1 = (double *)malloc(sizeof(double)*memofImage);image_out_c2 = (unsigned char *)malloc(sizeof(unsigned char)*memofImage);image_out_d2 = (double *)malloc(sizeof(double)*memofImage);image_out_c = (unsigned char *)malloc(sizeof(unsigned char)*memofImage);image_out_d = (double *)malloc(sizeof(double)*memofImage);}ImageMapping::~ImageMapping(){delete m_pm_im;free(image_in_c1); free(image_in_d1);free(image_in_c2); free(image_in_d2);free(image_out_c1); free(image_out_d1);free(image_out_c2); free(image_out_d2);free(image_out_c); free(image_out_d);}void ImageMapping::resetMemory(){memset(image_out_c1, 0, sizeof(unsigned char)*memofImage);memset(image_out_d1, 0, sizeof(double)*memofImage);memset(image_out_c2, 0, sizeof(unsigned char)*memofImage);memset(image_out_d2, 0, sizeof(double)*memofImage);memset(image_out_c, 0, sizeof(unsigned char)*memofImage);memset(image_out_d, 0, sizeof(double)*memofImage);}void ImageMapping::readAndSetImage(char *ref_c_1, char *ref_d_1, char *ref_c_2, char *ref_d_2){cv::Mat imageColor = cv::imread(ref_c_1); cv::Mat imageDepth = cv::imread(ref_d_1);cv::Mat imageColor2 = cv::imread(ref_c_2); cv::Mat imageDepth2 = cv::imread(ref_d_2);imageColorOut.create(imageColor.rows, imageColor.cols, imageColor.type());/*cv::imshow("virtruel_Depth_image1", imageColor);cv::imshow("virtruel_Depth_image2", imageDepth);cv::imshow("virtruel_Depth_image3", imageColor2);cv::imshow("virtruel_Depth_image4", imageDepth2);cv::waitKey();*/resetMemory();int i = 0, j = 0, m = 0, n = 0;for (int v = 0; v < m_cfg_im->m_Height; v++){for (int u = 0; u < m_cfg_im->m_Width; u++){image_in_c1[i++] = imageColor.at<cv::Vec3b>(v, u)[0]; image_in_c1[i++] = imageColor.at<cv::Vec3b>(v, u)[1]; image_in_c1[i++] = imageColor.at<cv::Vec3b>(v, u)[2]; image_in_c2[j++] = imageColor2.at<cv::Vec3b>(v, u)[0]; image_in_c2[j++] = imageColor2.at<cv::Vec3b>(v, u)[1];  image_in_c2[j++] = imageColor2.at<cv::Vec3b>(v, u)[2];image_in_d1[m++] = imageDepth.at<cv::Vec3b>(v, u)[0]; image_in_d1[m++] = imageDepth.at<cv::Vec3b>(v, u)[1]; image_in_d1[m++] = imageDepth.at<cv::Vec3b>(v, u)[2];image_in_d2[n++] = imageDepth2.at<cv::Vec3b>(v, u)[0]; image_in_d2[n++] = imageDepth2.at<cv::Vec3b>(v, u)[1]; image_in_d2[n++] = imageDepth2.at<cv::Vec3b>(v, u)[2];imageColorOut.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[2] = 0;}}}void ImageMapping::setArraytoImage(unsigned char *image_out_c, cv::Mat imageColorOut){int i = 0;for (int v = 0; v < m_cfg_im->m_Height; v++){for (int u = 0; u < m_cfg_im->m_Width; u++){imageColorOut.at<cv::Vec3b>(v, u)[0] = image_out_c[i++]; imageColorOut.at<cv::Vec3b>(v, u)[1] = image_out_c[i++];imageColorOut.at<cv::Vec3b>(v, u)[2] = image_out_c[i++];}}}void ImageMapping::storeImage(cv::Mat imageColorOut){memset(save_dirr, 0, 200);strcpy(save_dirr, m_cfg_im->m_store_path);char string[10];char hou[10] = ".jpg";static int iter = 0;_itoa(iter++, string, 10);save_dirr[strlen(save_dirr)] = '\0';string[strlen(string)] = '\0';hou[strlen(hou)] = '\0';strcat(save_dirr, string);strcat(save_dirr, hou);cv::imwrite(save_dirr, imageColorOut);}void ImageMapping::map(unsigned char *c_image_in, double *d_image_in, unsigned char *c_image_out, double *d_image_out, int ref, int tgt){for (int v = 0; v < m_cfg_im->m_Height; v++)for (int u = 0; u < m_cfg_im->m_Width; u++){int offset = (v*m_cfg_im->m_Width + u)*3;double d = d_image_in[offset];//printf("%lf\n", d);m_pm_im->setValue(u, v, d, ref, tgt);m_pm_im->projectionReftoTgt();int u_tgt = m_pm_im->m_u_t;int v_tgt = m_pm_im->m_v_t;int d_tgt = m_pm_im->m_d_t;if (u_tgt < 0 || u_tgt >= m_cfg_im->m_Width - 1 || v_tgt < 0 || v_tgt >= m_cfg_im->m_Height - 1)continue;int offset_new = (v_tgt*m_cfg_im->m_Width + u_tgt) * 3;if (d_tgt < d_image_out[offset_new])continue;c_image_out[offset_new] = c_image_in[offset]; c_image_out[offset_new+1] = c_image_in[offset+1]; c_image_out[offset_new+2] = c_image_in[offset+2];d_image_out[offset_new] = d_image_out[offset_new+1] = d_image_out[offset_new+2] = d_tgt;}}void ImageMapping::imageFusion(unsigned char *image_c1, unsigned char *image_c2, unsigned char *image_c3){for (int v = 0; v < m_cfg_im->m_Height; v++){for (int u = 0; u < m_cfg_im->m_Width; u++){int offset = (v*m_cfg_im->m_Width + u) * 3;bool flag_c2 = image_c2[offset + 2] != 0 || image_c2[offset + 1] != 0 || image_c2[offset + 0] != 0;bool flag_c1 = image_c1[offset + 2] != 0 || image_c1[offset + 1] != 0 || image_c1[offset + 0] != 0;//image_c3[offset + 0] = image_c2[offset + 0]; image_c3[offset + 1] = image_c2[offset + 1]; image_c3[offset + 2] = image_c2[offset + 2];if (image_c1[offset + 2] == 0 && image_c1[offset + 1] == 0 && image_c1[offset + 0] == 0 && flag_c2){image_c3[offset + 0] = image_c2[offset + 0]; image_c3[offset + 1] = image_c2[offset + 1]; image_c3[offset + 2] = image_c2[offset + 2];}else if (image_c2[offset + 2] == 0 && image_c2[offset + 1] == 0 && image_c2[offset + 0] == 0 && flag_c1){image_c3[offset + 0] = image_c1[offset + 0]; image_c3[offset + 1] = image_c1[offset + 1]; image_c3[offset + 2] = image_c1[offset + 2];}else if(flag_c1 && flag_c2){image_c3[offset + 0] = (image_c1[offset + 0] + image_c2[offset + 0]) / 2; image_c3[offset + 1] = (image_c1[offset + 1] + image_c2[offset + 1]) / 2; image_c3[offset + 2] = (image_c1[offset + 2] + image_c2[offset + 2]) / 2;}}}}void ImageMapping::process(char *ref_c_1, char *ref_d_1, char *ref_c_2, char *ref_d_2){readAndSetImage(ref_c_1, ref_d_1, ref_c_2, ref_d_2);map(image_in_c1, image_in_d1, image_out_c1, image_out_d1, m_cfg_im->m_left_viewpoint, m_cfg_im->m_virtual_viewpoint);map(image_in_c2, image_in_d2, image_out_c2, image_out_d2, m_cfg_im->m_right_viewpoint, m_cfg_im->m_virtual_viewpoint);imageFusion(image_out_c1, image_out_c2, image_out_c);setArraytoImage(image_out_c, imageColorOut);//cv::medianBlur(imageColorOut, imageColorOut, 3);//cv::medianBlur(imageColorOut, imageColorOut, 3);storeImage(imageColorOut);}

conf_file.txt

#Z_Min_Max42.0130.0#Image_Width_Height1024768#Left_right_synthesis576#Number_camera8#Store_pathD:\virtual_viewpoint_rendering\pic\#Left_image_pathC:\Users\jiang\Desktop\王江_2016_5_资料整理\实验数据\3DVideos-distrib\MSR3DVideo-Ballet\cam5\#Right_image_pathC:\Users\jiang\Desktop\王江_2016_5_资料整理\实验数据\3DVideos-distrib\MSR3DVideo-Ballet\cam7\#Acture_image_pathC:\Users\jiang\Desktop\王江_2016_5_资料整理\实验数据\3DVideos-distrib\MSR3DVideo-Ballet\cam6\#Parameter_cam_fileC:\Users\jiang\Desktop\王江_2016_5_资料整理\实验数据\3DVideos-distrib\MSR3DVideo-Ballet\calibParams-ballet.txt#Store_psnr_ssim_fileD:\virtual_viewpoint_rendering\pic\psnr_ssim