虚拟视点图像生成007

心已赠人 2022-08-08 12:45 146阅读 0赞

今天来总结一下这几日的研究成果：

（1）要对生成的虚拟视点图像去除伪影，需要进行大空洞区域的空洞扩张，直接应用opencv的形态学膨胀和腐蚀操作发现整体对图像进行了模糊，不是本实验要求的结果，所以提出了大边缘腐蚀操作算子，仅对大空洞周围的像素进行腐蚀。

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;  
  
\}  
  
  
\}  
\}  
\}  
  
  
\}

（2）在一定程度上对于小的裂缝问题，需要进行形态学的膨胀和腐蚀操作，由于opencv的膨胀和腐蚀操作不能满足本实验要求，所以依据需要对膨胀和腐蚀进行了比较的改进。

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;  
\}  
  
  
  
  
\}  
\}  
\}  
  
\}

（3）对于非常小的离散空洞，由于采用传统的中值滤波会产生整幅图像的平滑模糊，所以本实验对其进行了改进，使之对空洞区域仅进行中值滤波。改进算法如下：

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);  
\}  
\}  
\}  
\}  
\}

（4）在映射过程中，如果前景映射的是裂缝空洞，背景映射的不是空洞会造成前景和背景想混杂，所以需要一定程度的滤波，这种噪声通常是椒盐噪声，所以对其进行简单的中值滤波即可。

cv::medianBlur(imageColorOut, imageColorOut, 3);

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;
    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);
    	fillMedian(imageColorOut, 3);
    	fillMedian(imageColorOut2, 3);
    	fillMedian(imageColorOut, 3);
    	fillMedian(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;
    
    			}
    		}
    	}
    	//dilate(imageColorOut3);
    	//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::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[] = "d:\\psnr_ssim.txt"; // 此处写入文件名 
    	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\\cam5 >d:\\cam5.txt");
    	system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam7 >d:\\cam7.txt");
    	system("dir /a-d /b C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\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-Breakdancers\\cam5\\";
    		char refDepth[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam5\\";
    		char refColor2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam7\\";
    		char refDepth2[200] = "C:\\Users\\jiang\\Desktop\\experientdata\\3DVideos-distrib\\MSR3DVideo-Breakdancers\\cam7\\";
    		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\\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;
    }
    void main2()
    {
    	//char refColor[200];
    	//char refDepth[200];
    	FILE *fp;
    	FILE *fp2;
    	FILE *fp3;
    	char filename[] = "d:\\psnr_ssim.txt"; // 此处写入文件名 
    	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