虚拟视点图像生成004

冷不防 2022-08-08 06:35 136阅读 0赞

这几天的成果主要有：

1.由于深度图像本身的缺陷，给原始的深度图像加上预处理，首先是对深度图像进行形态学闭运算，大小为3\*3的方形块。然后进行中值滤波，大小为5\*5.

cv::Mat element3(3, 3, CV\_8U, cv::Scalar(1));  
cv::morphologyEx(imageDepth, imageDepth, cv::MORPH\_CLOSE, element3);  
cv::morphologyEx(imageDepth2, imageDepth2, cv::MORPH\_CLOSE, element3);  
cv::medianBlur(imageDepth, imageDepth, 5);  
cv::medianBlur(imageDepth2, imageDepth2, 5);

2.由于正向映射会出现裂纹现象，所以进行逆向映射，先正向生成深度图像，然后对深度图像进行逆向映射，生成对应的纹理图像，由于生成的深度图像也会有裂纹，所以进行必要的中值滤波。

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);  
\}  
\}

3.要生成的比较完整的纹理图像，所以用左参考图像生成的纹理图像之后，空洞部分用右参考图像生成的部分进行填补。

wrapingImage(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);  
wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);

wrapingImage\_inverse(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);  
wrapingImage\_inverse(ref2, proj, imageColor2, imageDepth2, imageColorOut, imageDepthOut2);

4.存在的问题是，由于左右参考图像的关照强度不一样，生成的图像有的较暗，有的较亮，合成之后出现伪影比较严重。如何解决呢？？

5.结果.

1.生成的图像

![Center][]

2.原始图像

![Center 1][]

6.源代码：

#ifndef _wrapingOf3D1
    #define _wrapingOf3D1
    #include<iostream>
    #include<opencv2\opencv.hpp>
    #include <math.h> 
    #include <stdio.h> 
    #include <cv.h>	
    #include <highgui.h>
    using std::cout;
    using std::endl;
    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);
    		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;
    	}
    };
    
    /*
    **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 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);
    		}
    }
    
    void dipslay(char *calibParam, char *refColor, char *refDepth, char *refColor2, char *refDepth2, char *actColor)
    {
    	//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
    	int ref = 5;
    	int ref2 = 7;
    	//set projection cam
    	int proj = 6;
    	//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 imageDepthOut;
    	cv::Mat imageDepthOut2;
    	imageColorOut.create(imageColor.rows, imageColor.cols, imageColor.type());
    	imageColorOut2.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;
    			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\\";
    	//wraping from reference view to virtruel view
    	//cv::medianBlur(imageDepth, imageDepth, 7);
    	//cv::medianBlur(imageDepth2, imageDepth2, 7);
    	cv::Mat element3(3, 3, CV_8U, cv::Scalar(1));
    	cv::morphologyEx(imageDepth, imageDepth, cv::MORPH_CLOSE, element3);
    	cv::morphologyEx(imageDepth2, imageDepth2, cv::MORPH_CLOSE, element3);
    	cv::medianBlur(imageDepth, imageDepth, 5);
    	cv::medianBlur(imageDepth2, imageDepth2, 5);
    	//cv::GaussianBlur(imageDepth, imageDepth, cv::Size(5, 5), 1.5);    // 高斯平滑 模糊  线性滤波器
    	//cv::GaussianBlur(imageDepth2, imageDepth2, cv::Size(5, 5), 1.5);    // 高斯平滑 模糊  线性滤波器
    	//cv::blur(imageDepth, imageDepth, cv::Size(5, 5));
    	//cv::blur(imageDepth2, imageDepth2, cv::Size(5, 5));
    	//wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);
    	wrapingImage(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);
    	wrapingImage(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);
    	cv::medianBlur(imageDepthOut, imageDepthOut, 5);
    	cv::medianBlur(imageDepthOut2, imageDepthOut2, 5);
    	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);
    	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;
    
    	}
    	}
    	cv::Mat element4(5, 5, CV_8U, cv::Scalar(1));
    	cv::morphologyEx(imageDepthOut, imageDepthOut, cv::MORPH_CLOSE, element4);
    	cv::Mat element5(5, 5, CV_8U, cv::Scalar(1));
    	cv::morphologyEx(imageDepthOut2, imageDepthOut2, cv::MORPH_CLOSE, element5);
    	//wrapingImage_inverse(ref2, proj, imageColor2, imageDepth2, imageColorOut2, imageDepthOut2);
    	wrapingImage_inverse(ref, proj, imageColor, imageDepth, imageColorOut, imageDepthOut);
    	wrapingImage_inverse(ref2, proj, imageColor2, imageDepth2, imageColorOut, imageDepthOut2);
    	//display reference_image
    	/*cv::imshow("reference_image", imageColor);
    	cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\reference_image.jpg", imageColor);*/
    	//display virtruel_image
    	//cv::medianBlur(imageColorOut, imageColorOut, 3);
    	//cv::cvtColor(imageColorOut, imageColorOut, CV_BGR2GRAY);
    	/*cv::equalizeHist(imageDepthOut, imageDepthOut);
    	cv::equalizeHist(imageDepthOut2, imageDepthOut2);*/
    	cv::imshow("virtruel_Color_image01", imageColorOut);
    	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);
    	display virtruel_image
    	//cv::imshow("virtruel_Color_image21", imageColorOut2);
    	//cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image21.jpg", imageColorOut2);
    	//display virtruel_image
    	//cv::medianBlur(imageDepthOut, imageDepthOut, 3);
    	/*cv::medianBlur(imageDepthOut, imageDepthOut, 5);
    	cv::medianBlur(imageDepthOut2, imageDepthOut2, 5);*/
    	/*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::cvtColor(imageColor_actual, imageColor_actual, CV_BGR2GRAY);
    	cv::imshow("actruel_image", imageColor_actual);
    	cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg", imageColor_actual);
    	mix reference and virtruel and check changes
    	cv::Mat imageColorRefVSProj;
    	cv::addWeighted(imageColorOut, 0.5, imageColorOut2, 0.5, 0.0, imageColorRefVSProj);
    	cv::imshow("imageColorRefVSProj", imageColorRefVSProj);
    	cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorRefVSProj.jpg", imageColorRefVSProj);
    	mix actual and virtruel and check changes
    	/*cv::Mat imageColorActVSProj;
    	cv::addWeighted(imageColor_actual, 0.5, imageColorOut2, 0.5, 0.0, imageColorActVSProj);
    	cv::imshow("imageColorActVSProj", imageColorActVSProj);
    	cv::imwrite("C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\imageColorActVSProj.jpg", imageColorActVSProj);*/
    	cv::waitKey();
    
    }
    
    void main()
    {
    	/*char *refColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam2\\color-cam2-f060.jpg";
    	char *refDepth = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam2\\depth-cam2-f060.png";
    	char *refColor2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4\\color-cam4-f060.jpg";
    	char *refDepth2 = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam4\\depth-cam4-f060.png";
    	char *calibParam = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\calibParams-breakdancers.txt";
    	char *actColor = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam3\\color-cam3-f060.jpg";*/
    	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_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\virtruel_Color_image01.jpg";
    	char *act_img = "C:\\Users\\jiang\\Desktop\\experientdata\\experiencePictrue\\actruel_image.jpg";
    	dipslay(calibParam, refColor, refDepth, refColor2, refDepth2, actColor);
    	double value_psnr = psnr(ref_img, act_img);
    	printf("psnr=%lf\n", value_psnr);
    	double value_ssim = ssim(ref_img, act_img);
    	printf("ssim=%lf\n", value_ssim);
    	getchar();
    	int aa;
    	std::cin >> aa;
    }
    #endif

[Center]: /images/20220805/8714ef24c22346579ebf25281072853b.png
[Center 1]: /images/20220805/873f14d4a4d94bd5ad482626ee6dc57a.png