psnr值在30db左右,ssim在0.85左右。
源代码:
#ifndef _wrapingOf3D1 #define _wrapingOf3D1 #include<iostream> #include<opencv2\opencv.hpp> #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/highgui/highgui.hpp" #include <math.h> #include <stdio.h> #include <cv.h> #include <highgui.h> #include<io.h> using std::cout; using std::endl; using namespace std; #include <cmath> #include<string.h> #include <iostream> #include <fstream> using namespace std; #include <stdio.h> #include <time.h> char tmpbuf[15];//YYYYMMDDhhmmss 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; } double max(double x, double y) { return ((x > y) ? x : y); } double ssim(char *ref_image, char *obj_image) { // default settings double 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 COMPUTING cvSmooth(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 program cout << "(R, G & B SSIM index)" << std::endl; cout << index_scalar.val[2] << endl; cout << index_scalar.val[1] << endl; cout << index_scalar.val[0] << endl; cvReleaseImage(&img1_sq); cvReleaseImage(&img2_sq); cvReleaseImage(&img1_img2); cvReleaseImage(&mu1); cvReleaseImage(&mu2); cvReleaseImage(&mu1_sq); cvReleaseImage(&mu2_sq); cvReleaseImage(&mu1_mu2); cvReleaseImage(&sigma1_sq); cvReleaseImage(&sigma2_sq); cvReleaseImage(&sigma12); cvReleaseImage(&temp1); cvReleaseImage(&temp2); cvReleaseImage(&temp3); cvReleaseImage(&ssim_map); //double ssim=max(max(index_scalar.val[0], index_scalar.val[1]), index_scalar.val[2]); double ssim = (index_scalar.val[0] + index_scalar.val[1] + index_scalar.val[2]) / 3; return ssim; } double psnr(char *ref_image, char *obj_image) { cv::Mat image_ref = cv::imread(ref_image); cv::Mat image_obj = cv::imread(obj_image); double mse = 0; double div_r = 0; double div_g = 0; double div_b = 0; int width = image_ref.cols; int height = image_ref.rows; double psnr = 0; for (int v = 0; v < height; v++) { for (int u = 0; u < width; u++) { div_r = image_ref.at<cv::Vec3b>(v, u)[0] - image_obj.at<cv::Vec3b>(v, u)[0]; div_g = image_ref.at<cv::Vec3b>(v, u)[1] - image_obj.at<cv::Vec3b>(v, u)[1]; div_b = image_ref.at<cv::Vec3b>(v, u)[2] - image_obj.at<cv::Vec3b>(v, u)[2]; mse += ((div_r*div_r + div_b*div_b + div_g*div_g) / 3); } } mse = mse / (width*height); psnr = 10 * log10(255 * 255 / mse); printf("%lf\n", mse); printf("%lf\n", psnr); return psnr; } class Histogram1D{ private: int histSize[1]; float hranges[2]; const float *ranges[1]; int channels[1]; public: Histogram1D(){ histSize[0] = 256; hranges[0] = 0.0; hranges[1] = 255.0; ranges[0] = hranges; channels[0] = 0; } cv::MatND getHistogram(const cv::Mat &image){ cv::MatND hist; cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges); return hist; } cv::Mat getHistogramImage(const cv::Mat &image){ cv::MatND hist = getHistogram(image); double maxVal = 0; double minVal = 0; cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0); maxVal = 25500*2; minVal = 0; cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255)); int hpt = static_cast<int>(0.9*histSize[0]); for (int h = 0; h < histSize[0]; h++){ float binVal = hist.at<float>(h); int intensity = static_cast<int>(binVal*hpt / maxVal); cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1); } return histImg; } }; class Histogram1D1{ private: int histSize[1]; float hranges[2]; const float *ranges[1]; int channels[1]; public: Histogram1D1(){ histSize[0] = 256; hranges[0] = 0.0; hranges[1] = 255.0; ranges[0] = hranges; channels[0] = 1; } cv::MatND getHistogram(const cv::Mat &image){ cv::MatND hist; cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges); return hist; } cv::Mat getHistogramImage(const cv::Mat &image){ cv::MatND hist = getHistogram(image); double maxVal = 0; double minVal = 0; cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0); maxVal = 25500*2; minVal = 0; cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255)); int hpt = static_cast<int>(0.9*histSize[0]); for (int h = 0; h < histSize[0]; h++){ float binVal = hist.at<float>(h); int intensity = static_cast<int>(binVal*hpt / maxVal); cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1); } return histImg; } }; class Histogram1D2{ private: int histSize[1]; float hranges[2]; const float *ranges[1]; int channels[1]; public: Histogram1D2(){ histSize[0] = 256; hranges[0] = 0.0; hranges[1] = 255.0; ranges[0] = hranges; channels[0] = 2; } cv::MatND getHistogram(const cv::Mat &image){ cv::MatND hist; cv::calcHist(&image, 1, channels, cv::Mat(), hist, 1, histSize, ranges); return hist; } cv::Mat getHistogramImage(const cv::Mat &image){ cv::MatND hist = getHistogram(image); double maxVal = 0; double minVal = 0; cv::minMaxLoc(hist, &minVal, &maxVal, 0, 0); maxVal = 25500*2; minVal = 0; cv::Mat histImg(histSize[0], histSize[0], CV_8U, cv::Scalar(255)); int hpt = static_cast<int>(0.9*histSize[0]); for (int h = 0; h < histSize[0]; h++){ float binVal = hist.at<float>(h); int intensity = static_cast<int>(binVal*hpt / maxVal); cv::line(histImg, cv::Point(h, histSize[0]), cv::Point(h, histSize[0] - intensity), cv::Scalar::all(100), 1); } return histImg; } }; class ColorHistogram{ private: int histSize[3]; float hranges[2]; const float *ranges[3]; int channels[3]; public: ColorHistogram(){ histSize[0] = histSize[1] = histSize[2] = 256; hranges[0] = 0.0; hranges[1] = 255.0; ranges[0] = hranges; ranges[1] = hranges; ranges[2] = hranges; channels[0] = 0; channels[1] = 1; channels[2] = 2; } cv::MatND getHistogram(const cv::Mat &image){ cv::MatND hist; cv::calcHist(&image, 1, channels, cv::Mat(), hist, 3, histSize, ranges); return hist; } cv::SparseMat getSparseHistogram(const cv::Mat &image){ cv::SparseMat hist(3, histSize, CV_32F); cv::calcHist(&image, 1, channels, cv::Mat(), hist, 3, histSize, ranges); return hist; } }; /* **define a struct included intrinsic and extrinsic args */ typedef struct { double m_K[3][3]; // 3x3 intrinsic matrix double m_RotMatrix[3][3]; // rotation matrix double m_Trans[3]; // translation vector double m_ProjMatrix[4][4]; // projection matrix } CalibStruct; /* **define globle variables */ CalibStruct m_CalibParams[8]; int m_NumCameras = 8; int m_Width = 1024, m_Height = 768; // camera resolution is 1024x768 double pts[8][3]; /* **declare function */ void InitializeFromFile(char *fileName); double DepthLevelToZ(unsigned char d); unsigned char ZToDepthLever(double z); double projXYZtoUV(double projMatrix[4][4], double x, double y, double z, double *u, double *v); void projUVZtoXY(double projMatrix[4][4], double u, double v, double z, double *x, double *y, double pt[8][2]); void wrapingImage(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut); void pointProject_from_ref_to_otherView(double pts[8][2], int ref, int u, int v, unsigned char d); /* **define function */ /* ** read text file and write args to struct of globle variable */ void readCalibrationFile(char *fileName) { int i, j, k; FILE *pIn; double dIn; // dummy variable int camIdx; if (pIn = fopen(fileName, "r")) { for (k = 0; k<m_NumCameras; k++) { // camera index fscanf(pIn, "%d", &camIdx); //std::cout << camIdx << std::endl; // camera intrinsics for (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 extrinsics for (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 matrix inMat = m_CalibParams[camIdx].m_K; // The extrinsic matrix for (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 matrix for (i = 0; i<3; i++) { for (j = 0; j<4; j++) { m_CalibParams[camIdx].m_ProjMatrix[i][j] = 0.0; for (k = 0; k<3; k++) { m_CalibParams[camIdx].m_ProjMatrix[i][j] += inMat[i][k] * exMat[k][j]; } } } m_CalibParams[camIdx].m_ProjMatrix[3][0] = 0.0; m_CalibParams[camIdx].m_ProjMatrix[3][1] = 0.0; m_CalibParams[camIdx].m_ProjMatrix[3][2] = 0.0; m_CalibParams[camIdx].m_ProjMatrix[3][3] = 1.0; } } /** **init projection matrix */ void InitializeFromFile(char *fileName) { readCalibrationFile(fileName); computeProjectionMatrices(); } /** **calcular z depended on d of depth image */ double DepthLevelToZ(unsigned char d) { double z; double MinZ = 44.0, MaxZ = 120.0; z = 1.0 / ((d / 255.0)*(1.0 / MinZ - 1.0 / MaxZ) + 1.0 / MaxZ); return z; } /** **calcular d of depth image depended on z */ unsigned char ZToDepthLever(double z) { double MinZ = 44.0, MaxZ = 120.0; unsigned char d; d = (unsigned char)(255.0*(1 / (double)z - 1 / MaxZ) / (1 / MinZ - 1 / MaxZ)); return d; } /** **calcular x,y depended on u,v,z and projection Matrix **for example,projection Matrix is m_CalibParams[i].m_ProjMatrix which is index of camera */ void projUVZtoXY(double projMatrix[4][4], double u, double v, double z, double *x, double *y) { double c0, c1, c2; // image (0,0) is bottom lefthand corner v = (double)m_Height - v - 1.0; c0 = z*projMatrix[0][2] + projMatrix[0][3]; c1 = z*projMatrix[1][2] + projMatrix[1][3]; c2 = z*projMatrix[2][2] + projMatrix[2][3]; *y = u*(c1*projMatrix[2][0] - projMatrix[1][0] * c2) + v*(c2*projMatrix[0][0] - projMatrix[2][0] * c0) + projMatrix[1][0] * c0 - c1*projMatrix[0][0]; *y /= v*(projMatrix[2][0] * projMatrix[0][1] - projMatrix[2][1] * projMatrix[0][0]) + u*(projMatrix[1][0] * projMatrix[2][1] - projMatrix[1][1] * projMatrix[2][0]) + projMatrix[0][0] * projMatrix[1][1] - projMatrix[1][0] * projMatrix[0][1]; *x = (*y)*(projMatrix[0][1] - projMatrix[2][1] * u) + c0 - c2*u; *x /= projMatrix[2][0] * u - projMatrix[0][0]; } // projUVZtoXY /** **calcular u,v,z1 depended on x,y,z **z1 is after projection and z is before projection.z1 is return value **/ double projXYZtoUV(double projMatrix[4][4], double x, double y, double z, double *u, double *v) { double w; *u = projMatrix[0][0] * x + projMatrix[0][1] * y + projMatrix[0][2] * z + projMatrix[0][3]; *v = projMatrix[1][0] * x + projMatrix[1][1] * y + projMatrix[1][2] * z + projMatrix[1][3]; w = projMatrix[2][0] * x + projMatrix[2][1] * y + projMatrix[2][2] * z + projMatrix[2][3]; *u /= w; *v /= w; // image (0,0) is bottom lefthand corner *v = (double)m_Height - *v - 1.0; return w; } // projXYZtoUV /** **/ void pointProject_from_ref_to_otherView(double pts[8][3], int ref, int u, int v, unsigned char d) { double x, y, z = DepthLevelToZ(d); //printf("Testing projection of pt (%d,%d) in camera 0 with d = %d (z = %f) to other cameras\n", u, v, d, z); projUVZtoXY(m_CalibParams[ref].m_ProjMatrix, (double)u, (double)v, z, &x, &y); //printf("3D pt = (%f, %f, %f) [coordinates wrt reference camera]\n", x, y, z); for (int cam = 0; cam<8; cam++) { double *pt = pts[cam]; pt[0] = 0; pt[1] = 0; pt[2] = 0; } for (int cam = 0; cam<8; cam++) { double *pt = pts[cam]; pt[2] = projXYZtoUV(m_CalibParams[cam].m_ProjMatrix, x, y, z, &pt[0], &pt[1]); //printf("Camera %d: (%f, %f)\n", cam, pt[0], pt[1]); pt[2] = ZToDepthLever(pt[2]); } } /** **wraping image,ref represent reference cam,proj represent projection cam **the kernal code **/ void wrapingImage(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut) { for (int v = 0; v < imageColor.rows; v++) for (int u = 0; u < imageColor.cols; u++) { double d = imageDepth.at<cv::Vec3b>(v, u)[0]; pointProject_from_ref_to_otherView(pts, ref, u, v, d); int u1 = (int)pts[proj][0]; int v1 = (int)pts[proj][1]; int k1 = (int)pts[proj][2]; if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1) continue; if (k1 < imageDepthOut.at<cv::Vec3b>(v1, u1)[0]) continue; imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u); imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1; } } void wrapingImageGai1(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut) { cv::Mat matBj; matBj.create(imageColor.rows, imageColor.cols, CV_64FC3); for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { matBj.at<cv::Vec3d>(v, u)[0] = 0; matBj.at<cv::Vec3d>(v, u)[1] = 0; matBj.at<cv::Vec3d>(v, u)[2] = 0; } } for (int v = 0; v < imageColor.rows; v++) for (int u = 0; u < imageColor.cols; u++) { double d = imageDepth.at<cv::Vec3b>(v, u)[0]; pointProject_from_ref_to_otherView(pts, ref, u, v, d); int u1 = (int)round_off(pts[proj][0]); int v1 = (int)round_off(pts[proj][1]); double xy = (u1 - pts[proj][0])*(u1 - pts[proj][0]) + (v1 - pts[proj][1])*(v1 - pts[proj][1]); double z = pts[proj][2]; int k1 = (int)round_off(pts[proj][2]); if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1) continue; if (int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj.at<cv::Vec3d>(v1, u1)[1]) continue; if (z == matBj.at<cv::Vec3d>(v1, u1)[1] && int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj.at<cv::Vec3d>(v1, u1)[0]) continue; imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u); imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1; matBj.at<cv::Vec3d>(v1, u1)[0] = xy; matBj.at<cv::Vec3d>(v1, u1)[1] = z; matBj.at<cv::Vec3d>(v1, u1)[2] = 1; } } void wrapingImageGai2(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut) { cv::Mat matBj; matBj.create(imageColor.rows*2, imageColor.cols*2, CV_64FC3); for (int v = 0; v < imageColor.rows*2; v++) { for (int u = 0; u < imageColor.cols*2; u++) { matBj.at<cv::Vec3d>(v, u)[0] = 0; matBj.at<cv::Vec3d>(v, u)[1] = 0; matBj.at<cv::Vec3d>(v, u)[2] = 0; } } cv::pyrUp(imageColor, imageColor, cv::Size(imageColor.cols * 2, imageColor.rows * 2)); cv::pyrUp(imageDepth, imageDepth, cv::Size(imageDepth.cols * 2, imageDepth.rows * 2)); cv::pyrUp(imageColorOut, imageColorOut, cv::Size(imageColorOut.cols * 2, imageColorOut.rows * 2)); cv::pyrUp(imageDepthOut, imageDepthOut, cv::Size(imageDepthOut.cols * 2, imageDepthOut.rows * 2)); for (int v = 0; v < imageColor.rows; v++) for (int u = 0; u < imageColor.cols; u++) { double d = imageDepth.at<cv::Vec3b>(v, u)[0]; pointProject_from_ref_to_otherView(pts, ref, u, v, d); int u1 = (int)round_off(pts[proj][0]); int v1 = (int)round_off(pts[proj][1]); double xy = (u1 - pts[proj][0])*(u1 - pts[proj][0]) + (v1 - pts[proj][1])*(v1 - pts[proj][1]); double z = pts[proj][2]; int k1 = (int)round_off(pts[proj][2]); if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1) continue; if (int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && z < matBj.at<cv::Vec3d>(v1, u1)[1]) continue; if (z == matBj.at<cv::Vec3d>(v1, u1)[1] && int(matBj.at<cv::Vec3d>(v1, u1)[2]) != 0 && xy > matBj.at<cv::Vec3d>(v1, u1)[0]) continue; imageColorOut.at<cv::Vec3b>(v1, u1) = imageColor.at<cv::Vec3b>(v, u); imageDepthOut.at<cv::Vec3b>(v1, u1)[0] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[1] = k1; imageDepthOut.at<cv::Vec3b>(v1, u1)[2] = k1; matBj.at<cv::Vec3d>(v1, u1)[0] = xy; matBj.at<cv::Vec3d>(v1, u1)[1] = z; matBj.at<cv::Vec3d>(v1, u1)[2] = 1; } cv::pyrDown(imageColor, imageColor, cv::Size(imageColor.cols / 2, imageColor.rows / 2)); cv::pyrDown(imageDepth, imageDepth, cv::Size(imageDepth.cols / 2, imageDepth.rows / 2)); cv::pyrDown(imageColorOut, imageColorOut, cv::Size(imageColorOut.cols / 2, imageColorOut.rows / 2)); cv::pyrDown(imageDepthOut, imageDepthOut, cv::Size(imageDepthOut.cols / 2, imageDepthOut.rows / 2)); } void wrapingImage_inverse(int ref, int proj, cv::Mat &imageColor, cv::Mat &imageDepth, cv::Mat &imageColorOut, cv::Mat &imageDepthOut) { for (int v = 0; v < imageColor.rows; v++) for (int u = 0; u < imageColor.cols; u++) { double d = imageDepthOut.at<cv::Vec3b>(v, u)[0]; if (d == 0) continue; if (imageColorOut.at<cv::Vec3b>(v, u)[0] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0) continue; pointProject_from_ref_to_otherView(pts, proj, u, v, d); int u1 = (int)pts[ref][0]; int v1 = (int)pts[ref][1]; int k1 = (int)pts[ref][2]; if (u1 < 0 || u1 >= imageColor.cols - 1 || v1 < 0 || v1 >= imageColor.rows - 1) continue; imageColorOut.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v1, u1); } } int MedianValue(cv::Mat imageColor, int tw, int x, int y, int cn){ int i, j, k; int px, py, c; int *value; value = new int[tw*tw]; k = 0; for (i = 0; i < tw; i++) { for (j = 0; j < tw; j++) { py = y - tw / 2 + i; px = x - tw / 2 + j; value[k++] = imageColor.at<cv::Vec3b>(px,py)[cn]; } } int count; count = k; for (i = 0; i < count - 1; i++) { k = i; for (j = i + 1; j < count; j++) { if (value[j] < value[k]) { k = j; } } c = value[i]; value[i] = value[k]; value[k] = c; } c = value[count / 2]; delete[] value; return c; } void fillMedian(cv::Mat &imageColor, int tw) { cv::Mat imageColor2; imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type()); for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u); } } for (int v = 0+tw/2; v < imageColor.rows-tw/2; v++) { for (int u = 0+tw/2; u < imageColor.cols-tw/2; u++) { int k = 0; if (imageColor2.at<cv::Vec3b>(v, u)[0] != 0 || imageColor2.at<cv::Vec3b>(v, u)[1] != 0 || imageColor2.at<cv::Vec3b>(v, u)[2] != 0) { continue; } for (int i = 0; i < tw; i++) { for (int j = 0; j < tw; j++) { int py = u - tw / 2 + i; int px = v - tw / 2 + j; if (imageColor2.at<cv::Vec3b>(px, py)[0] !=0 && imageColor2.at<cv::Vec3b>(px, py)[1] != 0 && imageColor2.at<cv::Vec3b>(px, py)[2] != 0) { k++; } } } if (k > 4) { for (int cn = 0; cn < 3; cn++) { imageColor.at<cv::Vec3b>(v, u)[cn] = MedianValue(imageColor2, 3, v, u, cn); } } } } } void dealXjlk(cv::Mat &imageColor) { cv::Mat imageColor2; imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type()); for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u); } } for (int v = 8; v < imageColor2.rows-8; v++) { for (int u = 8; u < imageColor2.cols - 8; u++) { if (imageColor2.at<cv::Vec3b>(v, u)[2] != 0 && imageColor2.at<cv::Vec3b>(v, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u)[0] != 0) { /*if (imageColor.at<cv::Vec3b>(v, u + 1)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 1)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 1)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 2)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 3)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 4)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 5)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 6)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 7)[0] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[2] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[1] != 0 || imageColor.at<cv::Vec3b>(v, u + 8)[0] != 0) { continue; } if (imageColor.at<cv::Vec3b>(v, u - 1)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 1)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 1)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 2)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 3)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 4)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 5)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 6)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 7)[0] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[2] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[1] != 0 || imageColor.at<cv::Vec3b>(v, u - 8)[0] != 0) { continue; } if (imageColor.at<cv::Vec3b>(v + 1, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 1, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 1, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 2, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 3, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 4, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 5, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 6, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 7, u)[0] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[2] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[1] != 0 || imageColor.at<cv::Vec3b>(v + 8, u)[0] != 0) { continue; } if (imageColor.at<cv::Vec3b>(v - 1, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 1, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 1, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 2, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 3, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 4, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 5, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 6, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 7, u)[0] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[2] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[1] != 0 || imageColor.at<cv::Vec3b>(v - 8, u)[0] != 0) { continue; }*/ //第一种情况,左上,左 if (imageColor2.at<cv::Vec3b>(v, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u + 8)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; continue; } //第二种情况,左下 if (imageColor2.at<cv::Vec3b>(v, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u + 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 8)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; continue; } //第三种情况,右上,右 if (imageColor2.at<cv::Vec3b>(v, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v+1, u - 8)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; continue; } //第四种情况,右下 if (imageColor2.at<cv::Vec3b>(v, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u - 8)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 2)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 3)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 4)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 5)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 6)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 7)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 8)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; continue; } //第五种情况,上 if (imageColor2.at<cv::Vec3b>(v + 1, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 2, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 3, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 4, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 5, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 6, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 7, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 8, u+1)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; continue; } //第六种情况,下 if (imageColor2.at<cv::Vec3b>(v - 1, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 1, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 2, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 3, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 4, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 5, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 6, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 7, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[2] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v - 8, u+1)[0] == 0) { imageColor.at<cv::Vec3b>(v, u)[0] = 0; imageColor.at<cv::Vec3b>(v, u)[1] = 0; imageColor.at<cv::Vec3b>(v, u)[2] = 0; } } } } } int tt = 1; void dilate(cv::Mat &imageColor) { cv::Mat imageColor2; imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type()); for (int v = 0+tt; v < imageColor.rows-tt; v++) { for (int u = 0+tt; u < imageColor.cols-tt; u++) { imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u); } } for (int v = 0+tt; v < imageColor2.rows-tt; v++) { for (int u = 0+tt; u < imageColor2.cols-tt; u++) { if (imageColor2.at<cv::Vec3b>(v, u)[2] != 0 && imageColor2.at<cv::Vec3b>(v, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u)[0] != 0) { if (imageColor2.at<cv::Vec3b>(v + 1, u)[0] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[2] == 0) { imageColor.at<cv::Vec3b>(v + 1, u)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v + 1, u)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v + 1, u)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v, u+1)[0] == 0 && imageColor2.at<cv::Vec3b>(v, u+1)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u+1)[2] == 0) { imageColor.at<cv::Vec3b>(v, u+1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v, u+1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v, u+1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v - 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[2] != 0) { imageColor.at<cv::Vec3b>(v - 1, u)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v - 1, u)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v - 1, u)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[2] != 0) { imageColor.at<cv::Vec3b>(v, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v + 1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u + 1)[2] != 0) { imageColor.at<cv::Vec3b>(v + 1, u + 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v + 1, u + 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v + 1, u + 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v - 1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u + 1)[2] != 0) { imageColor.at<cv::Vec3b>(v - 1, u + 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v - 1, u + 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v - 1, u + 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v - 1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u - 1)[2] != 0) { imageColor.at<cv::Vec3b>(v - 1, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v - 1, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v - 1, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } if (imageColor2.at<cv::Vec3b>(v + 1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u - 1)[2] != 0) { imageColor.at<cv::Vec3b>(v + 1, u - 1)[0] = imageColor2.at<cv::Vec3b>(v, u)[0]; imageColor.at<cv::Vec3b>(v + 1, u - 1)[1] = imageColor2.at<cv::Vec3b>(v, u)[1]; imageColor.at<cv::Vec3b>(v + 1, u - 1)[2] = imageColor2.at<cv::Vec3b>(v, u)[2]; } } } } } void erode(cv::Mat &imageColor) { cv::Mat imageColor2; imageColor2.create(imageColor.rows, imageColor.cols, imageColor.type()); for (int v = 0+tt; v < imageColor.rows-tt; v++) { for (int u = 0+tt; u < imageColor.cols-tt; u++) { imageColor2.at<cv::Vec3b>(v, u) = imageColor.at<cv::Vec3b>(v, u); } } for (int v = 0+tt; v < imageColor2.rows-tt; v++) { for (int u = 0+tt; u < imageColor2.cols-tt; u++) { if (imageColor2.at<cv::Vec3b>(v, u)[2] == 0 && imageColor2.at<cv::Vec3b>(v, u)[1] == 0 && imageColor2.at<cv::Vec3b>(v, u)[0] == 0) { if (imageColor2.at<cv::Vec3b>(v + 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u)[2] != 0) { imageColor.at<cv::Vec3b>(v + 1, u)[0] = 0; imageColor.at<cv::Vec3b>(v + 1, u)[1] = 0; imageColor.at<cv::Vec3b>(v + 1, u)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u + 1)[2] != 0) { imageColor.at<cv::Vec3b>(v, u + 1)[0] = 0; imageColor.at<cv::Vec3b>(v, u + 1)[1] = 0; imageColor.at<cv::Vec3b>(v, u + 1)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v - 1, u)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u)[2] != 0) { imageColor.at<cv::Vec3b>(v - 1, u)[0] = 0; imageColor.at<cv::Vec3b>(v - 1, u)[1] = 0; imageColor.at<cv::Vec3b>(v - 1, u)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v, u - 1)[2] != 0) { imageColor.at<cv::Vec3b>(v, u - 1)[0] = 0; imageColor.at<cv::Vec3b>(v, u - 1)[1] = 0; imageColor.at<cv::Vec3b>(v, u - 1)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v + 1, u+1)[0] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[1] != 0 && imageColor2.at<cv::Vec3b>(v + 1, u+1)[2] != 0) { imageColor.at<cv::Vec3b>(v + 1, u+1)[0] = 0; imageColor.at<cv::Vec3b>(v + 1, u+1)[1] = 0; imageColor.at<cv::Vec3b>(v + 1, u+1)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v-1, u + 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v-1, u + 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v-1, u + 1)[2] != 0) { imageColor.at<cv::Vec3b>(v-1, u + 1)[0] = 0; imageColor.at<cv::Vec3b>(v-1, u + 1)[1] = 0; imageColor.at<cv::Vec3b>(v-1, u + 1)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v - 1, u-1)[0] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u-1)[1] != 0 && imageColor2.at<cv::Vec3b>(v - 1, u-1)[2] != 0) { imageColor.at<cv::Vec3b>(v - 1, u-1)[0] = 0; imageColor.at<cv::Vec3b>(v - 1, u-1)[1] = 0; imageColor.at<cv::Vec3b>(v - 1, u-1)[2] = 0; } if (imageColor2.at<cv::Vec3b>(v+1, u - 1)[0] != 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[1] != 0 && imageColor2.at<cv::Vec3b>(v+1, u - 1)[2] != 0) { imageColor.at<cv::Vec3b>(v+1, u - 1)[0] = 0; imageColor.at<cv::Vec3b>(v+1, u - 1)[1] = 0; imageColor.at<cv::Vec3b>(v+1, u - 1)[2] = 0; } } } } } void dipslay(char *calibParam, char *refColor, char *refDepth, char *refColor2, char *refDepth2, char *actColor, int ref = 5, int ref2 = 7, int proj = 6) { //initialize projection_Matrix InitializeFromFile(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 refrence 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 compare cv::Mat imageColor_actual = cv::imread(actColor); //set reference cam //set projection cam //test code /*pointProject_from_ref_to_otherView(pts, ref, 700, 700, imageDepth.at<cv::Vec3b>(700, 700)[0]); for (int i = 0; i < 8; i++) { std::cout << pts[i][0] << "\t" << pts[i][1] << std::endl; }*/ //std::cin >> aa; //define two variable of output cv::Mat imageColorOut; cv::Mat imageColorOut2; cv::Mat imageColorOut3; cv::Mat imageDepthOut; cv::Mat imageDepthOut2; imageColorOut.create(imageColor.rows, imageColor.cols, imageColor.type()); imageColorOut2.create(imageColor.rows, imageColor.cols, imageColor.type()); imageColorOut3.create(imageColor.rows, imageColor.cols, imageColor.type()); imageDepthOut.create(imageColor.rows, imageColor.cols, imageColor.type()); imageDepthOut2.create(imageColor.rows, imageColor.cols, imageColor.type()); for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { imageColorOut.at<cv::Vec3b>(v, u)[0] = 0; imageColorOut.at<cv::Vec3b>(v, u)[1] = 0; imageColorOut.at<cv::Vec3b>(v, u)[2] = 0; imageColorOut2.at<cv::Vec3b>(v, u)[0] = 0; imageColorOut2.at<cv::Vec3b>(v, u)[1] = 0; imageColorOut2.at<cv::Vec3b>(v, u)[2] = 0; imageColorOut3.at<cv::Vec3b>(v, u)[0] = 0; imageColorOut3.at<cv::Vec3b>(v, u)[1] = 0; imageColorOut3.at<cv::Vec3b>(v, u)[2] = 0; imageDepthOut.at<cv::Vec3b>(v, u)[0] = 0; imageDepthOut.at<cv::Vec3b>(v, u)[1] = 0; imageDepthOut.at<cv::Vec3b>(v, u)[2] = 0; imageDepthOut2.at<cv::Vec3b>(v, u)[0] = 0; imageDepthOut2.at<cv::Vec3b>(v, u)[1] = 0; imageDepthOut2.at<cv::Vec3b>(v, u)[2] = 0; } } //save_dir char *save_dir = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\"; //wrapingImage(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut); //wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2); wrapingImageGai1(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut); wrapingImageGai1(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2); cv::medianBlur(imageColorOut, imageColorOut, 3); cv::medianBlur(imageColorOut2, imageColorOut2, 3); fillMedian(imageColorOut, 3); fillMedian(imageColorOut2, 3); fillMedian(imageColorOut, 3); fillMedian(imageColorOut2, 3); /*cv::medianBlur(imageColorOut, imageColorOut, 3); cv::medianBlur(imageColorOut2, imageColorOut2, 3); cv::medianBlur(imageColorOut, imageColorOut, 3); cv::medianBlur(imageColorOut2, imageColorOut2, 3);*/ /*erode(imageColorOut); erode(imageColorOut2); erode(imageColorOut2); erode(imageColorOut);*/ dealXjlk(imageColorOut); dealXjlk(imageColorOut2); dealXjlk(imageColorOut); dealXjlk(imageColorOut2); /*dealXjlk(imageColorOut); dealXjlk(imageColorOut2); dealXjlk(imageColorOut); dealXjlk(imageColorOut2);*/ /*dilate(imageColorOut); dilate(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2);*/ /*dilate(imageColorOut); dilate(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2); erode(imageColorOut); erode(imageColorOut2); erode(imageColorOut); erode(imageColorOut2); erode(imageColorOut); erode(imageColorOut2); erode(imageColorOut); erode(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2); dilate(imageColorOut); dilate(imageColorOut2);*/ //cv::erode(imageColorOut,imageColorOut,cv::Mat()); //cv::erode(imageColorOut2, imageColorOut2, cv::Mat()); //cv::dilate(imageColorOut, imageColorOut, cv::Mat()); //cv::dilate(imageColorOut2, imageColorOut2, cv::Mat()); /*cv::medianBlur(imageColorOut, imageColorOut, 3); cv::medianBlur(imageColorOut2, imageColorOut2, 3); cv::Mat element5(3, 3, CV_8U, cv::Scalar(1)); cv::erode(imageColorOut, imageColorOut, element5); cv::erode(imageColorOut2, imageColorOut2, element5);*/ /*cv::Mat element5(3, 3, CV_8U, cv::Scalar(1)); cv::morphologyEx(imageColorOut, imageColorOut, cv::MORPH_CLOSE, element5); cv::morphologyEx(imageColorOut2, imageColorOut2, cv::MORPH_CLOSE, element5);*/ //cv::erode(imageColorOut, imageColorOut, element5); //cv::erode(imageColorOut2, imageColorOut2, element5); /*cv::cvtColor(imageColorOut, imageColorOut, CV_BGR2HSV); cv::cvtColor(imageColorOut2, imageColorOut2, CV_BGR2HSV); cv::cvtColor(imageColorOut3, imageColorOut3, CV_BGR2HSV);*/ //Histogram1D h; //cv::MatND histo = h.getHistogramImage(imageColorOut); //cv::MatND histo3 = h.getHistogramImage(imageColorOut2); //cv::Mat histoVsHisto2; //cv::addWeighted(histo, 0.5, histo3, 0.5, 0.0, histoVsHisto2); ///*cv::imshow("histoVsHisto2gram", histoVsHisto2); //cv::imshow("L1", histo); //cv::imshow("L2", histo3);*/ //Histogram1D1 h1; //cv::MatND histo1 = h1.getHistogramImage(imageColorOut); //cv::MatND histo21 = h1.getHistogramImage(imageColorOut2); //cv::Mat histoVsHisto21; //cv::addWeighted(histo1, 0.5, histo21, 0.5, 0.0, histoVsHisto21); ///*cv::imshow("histoVsHisto2gram1", histoVsHisto21); //cv::imshow("a1", histo1); //cv::imshow("a2", histo21);*/ //Histogram1D2 h2; //cv::MatND histo2 = h2.getHistogramImage(imageColorOut); //cv::MatND histo22 = h2.getHistogramImage(imageColorOut2); //cv::Mat histoVsHisto22; //cv::addWeighted(histo2, 0.5, histo22, 0.5, 0.0, histoVsHisto22); ///*cv::imshow("histoVsHisto2gram2", histoVsHisto22); //cv::imshow("b1", histo2); //cv::imshow("b2", histo22);*/ /*for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0) { continue; } if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0) { continue; } imageColorOut3.at<cv::Vec3b>(v, u)[0] = (imageColorOut.at<cv::Vec3b>(v, u)[0] + imageColorOut2.at<cv::Vec3b>(v, u)[0]) / 2; imageColorOut3.at<cv::Vec3b>(v, u)[1] = (imageColorOut.at<cv::Vec3b>(v, u)[1] + imageColorOut2.at<cv::Vec3b>(v, u)[1]) / 2; imageColorOut3.at<cv::Vec3b>(v, u)[2] = (imageColorOut.at<cv::Vec3b>(v, u)[2] + imageColorOut2.at<cv::Vec3b>(v, u)[2]) / 2; } }*/ for (int v = 0; v < imageColor.rows; v++) { for (int u = 0; u < imageColor.cols; u++) { if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0) { imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2]; } else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0) { imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2]; } else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0) { imageColorOut3.at<cv::Vec3b>(v, u)[0] = (imageColorOut.at<cv::Vec3b>(v, u)[0] + imageColorOut2.at<cv::Vec3b>(v, u)[0]) / 2; imageColorOut3.at<cv::Vec3b>(v, u)[1] = (imageColorOut.at<cv::Vec3b>(v, u)[1] + imageColorOut2.at<cv::Vec3b>(v, u)[1]) / 2; imageColorOut3.at<cv::Vec3b>(v, u)[2] = (imageColorOut.at<cv::Vec3b>(v, u)[2] + imageColorOut2.at<cv::Vec3b>(v, u)[2]) / 2; } } } //cv::inpaint(imageColorOut3, imageColorOut3, imageColorOut3,1, cv::INPAINT_TELEA); /*dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3); dilate(imageColorOut3);*/ //dilate(imageColorOut3); fillMedian(imageColorOut3, 3); cv::medianBlur(imageColorOut3, imageColorOut3, 3); /*int t = 1; int s = 1; for (int v = 0+s; v < imageColor.rows-s; v++) { for (int u = 0+s; u < imageColor.cols-s; u++) { if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0) { int n01=0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[1]; n01++; } } if (n01 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[1] = aa/(n01); imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2]; } else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0) { int n02 = 0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[1]; n02++; } } if (n02 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[1] = aa/(n02); imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2]; } } }*/ /*int t = 1; int s = 1; for (int v = 0 + s; v < imageColor.rows - s; v++) { for (int u = 0 + s; u < imageColor.cols - s; u++) { if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0) { int n01 = 0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[2]; n01++; } } if (n01 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut2.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = aa / (n01); imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1]; } if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0) { int n02 = 0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[2]; n02++; } } if (n02 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = imageColorOut.at<cv::Vec3b>(v, u)[0]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = aa / (n02); imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1]; } } }*/ /*int t = 1; int s = 1; for (int v = 0 + s; v < imageColor.rows - s; v++) { for (int u = 0 + s; u < imageColor.cols - s; u++) { if (imageColorOut.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] != 0) { int n01 = 0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[0]; n01++; } } if (n01 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = aa/n01; imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut2.at<cv::Vec3b>(v, u)[1]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut2.at<cv::Vec3b>(v, u)[2]; } else if (imageColorOut2.at<cv::Vec3b>(v, u)[2] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[1] == 0 && imageColorOut2.at<cv::Vec3b>(v, u)[0] == 0 && imageColorOut.at<cv::Vec3b>(v, u)[2] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[1] != 0 && imageColorOut.at<cv::Vec3b>(v, u)[0] != 0) { int n01 = 0; int aa = 0; for (int i = v - t; i <= v + t; i++) for (int j = u - t; j <= u + t; j++){ if (imageColorOut3.at<cv::Vec3b>(i, j)[2] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[1] != 0 && imageColorOut3.at<cv::Vec3b>(i, j)[0] != 0){ aa += imageColorOut3.at<cv::Vec3b>(i, j)[0]; n01++; } } if (n01 == 0) continue; imageColorOut3.at<cv::Vec3b>(v, u)[0] = aa / n01; imageColorOut3.at<cv::Vec3b>(v, u)[1] = imageColorOut.at<cv::Vec3b>(v, u)[1]; imageColorOut3.at<cv::Vec3b>(v, u)[2] = imageColorOut.at<cv::Vec3b>(v, u)[2]; } } }*/ /*cv::cvtColor(imageColorOut, imageColorOut, CV_HSV2BGR); cv::cvtColor(imageColorOut2, imageColorOut2, CV_HSV2BGR); cv::cvtColor(imageColorOut3, imageColorOut3, CV_HSV2BGR);*/ //cv::imshow("virtruel_Color_image01", imageColorOut); /*cv::Mat imageColorOut4; imageColorOut4.create(imageColor.rows, imageColor.cols, imageColor.type()); cv::pyrUp(imageColorOut3, imageColorOut4, cv::Size(imageColorOut.cols * 2, imageColorOut.rows * 2)); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image4.jpg", imageColorOut4);*/ cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg", imageColorOut); //cv::imshow("virtruel_Color_image21", imageColorOut2); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg", imageColorOut2); //cv::imshow("virtruel_Color_image11", imageColorOut3); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg", imageColorOut3); ////cv::imshow("virtruel_Depth_image", imageDepthOut); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image01.jpg", imageDepthOut); ////cv::imshow("virtruel_Depth_image2", imageDepthOut2); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Depth_image21.jpg", imageDepthOut2); ////display actruel_image //cv::imshow("actruel_image", imageColor_actual); cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg", imageColor_actual); ////mix actual and virtruel and check changes //cv::Mat imageColor01ActVSProj; //cv::addWeighted(imageColor_actual, 0.5, imageColorOut, 0.5, 0.0, imageColor01ActVSProj); //cv::imshow("imageColorActVSProj01", imageColor01ActVSProj); //cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj01.jpg", imageColor01ActVSProj); //cv::Mat imageColor21ActVSProj; //cv::addWeighted(imageColor_actual, 0.5, imageColorOut3, 0.5, 0.0, imageColor21ActVSProj); //cv::imshow("imageColorActVSProj21", imageColor21ActVSProj); //cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj21.jpg", imageColor21ActVSProj); //cv::Mat imageColor02ActVSProj; //cv::addWeighted(imageColorOut, 0.5, imageColorOut2, 0.5, 0.0, imageColor02ActVSProj); //cv::imshow("imageColorActVSProj02", imageColor02ActVSProj); //cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj02.jpg", imageColor02ActVSProj); //cv::waitKey(); } void main() { //char refColor[200]; //char refDepth[200]; FILE *fp; FILE *fp2; FILE *fp3; char filename[50] = "d:\\psnr_ssim"; // 此处写入文件名 strcat(filename, getNewFileName()); strcat(filename, ".txt"); ofstream fout(filename); char str0[200][100]; char str2[200][100]; char str3[200][100]; int i, n = 0; system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3 >d:\\cam3.txt"); system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5 >d:\\cam5.txt"); system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4 >d:\\cam4.txt"); fp = fopen("d:\\cam3.txt", "r"); fp2 = fopen("d:\\cam5.txt", "r"); fp3 = fopen("d:\\cam4.txt", "r"); while (1){ if (fgets(str0[n], 50, fp) == NULL) break; str0[n][strlen(str0[n]) - 1] = '\0'; // 加一个字符串结束符 if (fgets(str2[n], 50, fp2) == NULL) break; str2[n][strlen(str2[n]) - 1] = '\0'; // 加一个字符串结束符 if (fgets(str3[n], 50, fp3) == NULL) break; str3[n][strlen(str3[n]) - 1] = '\0'; // 加一个字符串结束符 n++; } n--; fclose(fp); fclose(fp2); fclose(fp3); double value_psnr01 = 0; double value_ssim01 = 0; double value_psnr21 = 0; double value_ssim21 = 0; double value_psnr11 = 0; double value_ssim11 = 0; for (i = 0; i < 100; i++){ char refColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\"; char refDepth[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\"; char refColor2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\"; char refDepth2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\"; char calibParam[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\calibParams-breakdancers.txt"; char actColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4\\"; strcat(refColor, str0[i]); strcat(refDepth, str0[i+100]); strcat(refColor2, str2[i]); strcat(refDepth2, str2[i + 100]); strcat(actColor, str3[i]); /*printf("%s\n",refColor); printf("%s\n",refDepth); printf("%s\n", refColor2); printf("%s\n", refDepth2); printf("%s\n", actColor);*/ dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor, 3, 5, 4); char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg"; char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg"; char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg"; char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg"; value_psnr01 += psnr(ref_img01, act_img); printf("psnr01=%lf\n", value_psnr01 / (i + 1)); fout << value_psnr01 / (i + 1)<<"\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim01 += ssim(ref_img01, act_img); printf("ssim01=%lf\n", value_ssim01 / (i + 1)); fout << value_ssim01 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_psnr21 += psnr(ref_img21, act_img); printf("psnr21=%lf\n", value_psnr21 / (i + 1)); fout << value_psnr21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim21 += ssim(ref_img21, act_img); printf("ssim21=%lf\n", value_ssim21 / (i + 1)); fout << value_ssim21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_psnr11 += psnr(ref_img11, act_img); printf("psnr11=%lf\n", value_psnr11 / (i + 1)); fout << value_psnr11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim11 += ssim(ref_img11, act_img); printf("ssim11=%lf\n", value_ssim11 / (i + 1)); fout << value_ssim11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 fout << endl; } cout << "完啦!!!!!!!!!!!!!"; cin >> i; /*char *refColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\color-cam5-f000.jpg"; char *refDepth = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\depth-cam5-f000.png"; char *refColor2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\color-cam7-f000.jpg"; char *refDepth2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\depth-cam7-f000.png"; char *calibParam = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt"; char *actColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\color-cam6-f000.jpg"; char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg"; char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg"; char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg"; char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg"; dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor); double value_psnr01 = psnr(ref_img01, act_img); printf("psnr01=%lf\n", value_psnr01); double value_ssim01 = ssim(ref_img01, act_img); printf("ssim01=%lf\n", value_ssim01); double value_psnr21 = psnr(ref_img21, act_img); printf("psnr21=%lf\n", value_psnr21); double value_ssim21 = ssim(ref_img21, act_img); printf("ssim21=%lf\n", value_ssim21); double value_psnr11 = psnr(ref_img11, act_img); printf("psnr11=%lf\n", value_psnr11); double value_ssim11 = ssim(ref_img11, act_img); printf("ssim11=%lf\n", value_ssim11);*/ getchar(); int aa; std::cin >> aa; } void main2() { //char refColor[200]; //char refDepth[200]; FILE *fp; FILE *fp2; FILE *fp3; char filename[50] = "d:\\psnr_ssim"; // 此处写入文件名 strcat(filename, getNewFileName()); strcat(filename, ".txt"); ofstream fout(filename); char str0[200][100]; char str2[200][100]; char str3[200][100]; int i, n = 0; system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\ >d:\\cam5.txt"); system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\ >d:\\cam7.txt"); system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\ >d:\\cam6.txt"); fp = fopen("d:\\cam5.txt", "r"); fp2 = fopen("d:\\cam7.txt", "r"); fp3 = fopen("d:\\cam6.txt", "r"); while (1){ if (fgets(str0[n], 50, fp) == NULL) break; str0[n][strlen(str0[n]) - 1] = '\0'; // 加一个字符串结束符 if (fgets(str2[n], 50, fp2) == NULL) break; str2[n][strlen(str2[n]) - 1] = '\0'; // 加一个字符串结束符 if (fgets(str3[n], 50, fp3) == NULL) break; str3[n][strlen(str3[n]) - 1] = '\0'; // 加一个字符串结束符 n++; } n--; fclose(fp); fclose(fp2); fclose(fp3); double value_psnr01 = 0; double value_ssim01 = 0; double value_psnr21 = 0; double value_ssim21 = 0; double value_psnr11 = 0; double value_ssim11 = 0; for (i = 0; i < 100; i++){ char refColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\"; char refDepth[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\"; char refColor2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\"; char refDepth2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\"; char calibParam[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt"; char actColor[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\"; strcat(refColor, str0[i]); strcat(refDepth, str0[i + 100]); strcat(refColor2, str2[i]); strcat(refDepth2, str2[i + 100]); strcat(actColor, str3[i]); /*printf("%s\n",refColor); printf("%s\n",refDepth); printf("%s\n", refColor2); printf("%s\n", refDepth2); printf("%s\n", actColor);*/ dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor, 5, 7, 6); char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg"; char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg"; char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg"; char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg"; value_psnr01 += psnr(ref_img01, act_img); printf("psnr01=%lf\n", value_psnr01 / (i + 1)); fout << value_psnr01 / (i + 1)<<"\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim01 += ssim(ref_img01, act_img); printf("ssim01=%lf\n", value_ssim01 / (i + 1)); fout << value_ssim01 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_psnr21 += psnr(ref_img21, act_img); printf("psnr21=%lf\n", value_psnr21 / (i + 1)); fout << value_psnr21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim21 += ssim(ref_img21, act_img); printf("ssim21=%lf\n", value_ssim21 / (i + 1)); fout << value_ssim21 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_psnr11 += psnr(ref_img11, act_img); printf("psnr11=%lf\n", value_psnr11 / (i + 1)); fout << value_psnr11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 value_ssim11 += ssim(ref_img11, act_img); printf("ssim11=%lf\n", value_ssim11 / (i + 1)); fout << value_ssim11 / (i + 1) << "\t"; // fout用法和cout一致, 不过是写到文件里面去 fout << endl; } cout << "完啦!!!!!!!!!!!!!"; cin >> i; /*char *refColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\color-cam5-f000.jpg"; char *refDepth = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam5\\depth-cam5-f000.png"; char *refColor2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\color-cam7-f000.jpg"; char *refDepth2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam7\\depth-cam7-f000.png"; char *calibParam = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\calibParams-ballet.txt"; char *actColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Ballet\\cam6\\color-cam6-f000.jpg"; char *ref_img01 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg"; char *ref_img21 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg"; char *ref_img11 = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image11.jpg"; char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg"; dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor); double value_psnr01 = psnr(ref_img01, act_img); printf("psnr01=%lf\n", value_psnr01); double value_ssim01 = ssim(ref_img01, act_img); printf("ssim01=%lf\n", value_ssim01); double value_psnr21 = psnr(ref_img21, act_img); printf("psnr21=%lf\n", value_psnr21); double value_ssim21 = ssim(ref_img21, act_img); printf("ssim21=%lf\n", value_ssim21); double value_psnr11 = psnr(ref_img11, act_img); printf("psnr11=%lf\n", value_psnr11); double value_ssim11 = ssim(ref_img11, act_img); printf("ssim11=%lf\n", value_ssim11);*/ getchar(); int aa; std::cin >> aa; } #endif
时间: 2024-10-07 12:48:05