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#include <QCoreApplication>
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#include <QCoreApplication>
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#include <QTime>
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#include <QTime>
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#include <QSettings>
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#include <QSettings>
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#include <QtTest/QTest>
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#include <QtTest/QTest>
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#include "cvtools.h"
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void SMCaptureWorker::setup(){
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void SMCaptureWorker::setup(){
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    QSettings settings;
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    QSettings settings;
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    // Create cameras
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    // Create cameras
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        camera1->trigger();
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        camera1->trigger();
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        // retrieve raw frames
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        // retrieve raw frames
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        frame = camera0->getFrame();
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        frame = camera0->getFrame();
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        cv::Mat frameCV;
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        cv::Mat frameCV;
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        cvtools::rshift(frameCV, 8);
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        frameCV.convertTo(frameCV, CV_8UC1);
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        emit newFrame(0, frameCV);
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        emit newFrame(0, frameCV);
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        frame = camera1->getFrame();
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        frame = camera1->getFrame();
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        cvtools::rshift(frameCV, 8);
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        frameCV.convertTo(frameCV, CV_8UC1);
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        emit newFrame(1, frameCV);
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        emit newFrame(1, frameCV);
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        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
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        //std::cout << "SMCaptureWorker idle " << time.restart() << "ms" << std::endl;
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        // Process events e.g. perform a task
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        // Process events e.g. perform a task
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        // retrieve frames
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        // retrieve frames
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        CameraFrame frame;
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        CameraFrame frame;
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        frame = camera0->getFrame();
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        frame = camera0->getFrame();
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        cv::Mat frameCV;
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        cv::Mat frameCV;
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        emit newFrame(0, frameCV);
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        emit newFrame(0, frameCV);
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        frame = camera1->getFrame();
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        frame = camera1->getFrame();
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        emit newFrame(1, frameCV);
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        emit newFrame(1, frameCV);
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    }
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    }
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    emit rotatedTo(angle);
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    emit rotatedTo(angle);
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    if(angle != -1.0)
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    if(angle != -1.0)
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        rotateTo(angle);
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        rotateTo(angle);
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    CameraFrame frame;
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    CameraFrame frame;
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    SMCalibrationSet calibrationSet;
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    SMCalibrationSet calibrationSet;
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    cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_16UC1, cv::Scalar(0));
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    cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));
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    cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_16UC1, cv::Scalar(0));
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    cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));
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    for(int i=0; i<stacking; i++){
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    for(int i=0; i<stacking; i++){
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        // trigger cameras
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        // trigger cameras
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        camera0->trigger();
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        camera0->trigger();
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        camera1->trigger();
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        camera1->trigger();
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        // retrieve frames
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        // retrieve frames
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        frame = camera0->getFrame();
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        frame = camera0->getFrame();
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        cv::Mat frameCV;
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        cv::Mat frameCV;
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);
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        cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);
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cvtools::writeMat(frameCV, "frameCV.mat", "frameCV");
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cvtools::writeMat(frameCVStacked0, "frameCVStacked0.mat", "frameCVStacked0");
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        emit newFrame(0, frameCV);
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        emit newFrame(0, frameCV);
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        frame = camera1->getFrame();
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        frame = camera1->getFrame();
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        frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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        frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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        frameCV = frameCV.clone();
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        frameCV = frameCV.clone();
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        cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);
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        cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
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        emit newFrame(1, frameCV);
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        emit newFrame(1, frameCV);
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    }
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    }
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    frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);
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    frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);
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cvtools::writeMat(frameCVStacked0, "frameCVStacked0a.mat", "frameCVStacked0a");
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    frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);
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    frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);
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    calibrationSet.frame0 = frameCVStacked0;
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    calibrationSet.frame0 = frameCVStacked0;
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    calibrationSet.frame1 = frameCVStacked1;
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    calibrationSet.frame1 = frameCVStacked1;
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 183 
 
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    calibrationSet.rotationAngle = rotationStage->getAngle();
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    calibrationSet.rotationAngle = rotationStage->getAngle();
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        // display pattern
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        // display pattern
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        projector->displayPattern(i);
 206 
        projector->displayPattern(i);
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        QTest::qSleep(delay);
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        QTest::qSleep(delay);
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        cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_16UC1, cv::Scalar(0));
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        cv::Mat frameCVStacked0(camera0->getFrameHeight(), camera0->getFrameWidth(), CV_32SC1, cv::Scalar(0));
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        cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_16UC1, cv::Scalar(0));
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        cv::Mat frameCVStacked1(camera1->getFrameHeight(), camera1->getFrameWidth(), CV_32SC1, cv::Scalar(0));
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        for(int i=0; i<stacking; i++){
 212 
        for(int i=0; i<stacking; i++){
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            // trigger cameras
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            // trigger cameras
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            camera0->trigger();
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            camera0->trigger();
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            camera1->trigger();
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            camera1->trigger();
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 216 
 
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            // retrieve frames
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            // retrieve frames
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            frame = camera0->getFrame();
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            frame = camera0->getFrame();
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            cv::Mat frameCV;
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            cv::Mat frameCV;
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            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
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            frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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            frameCV = frameCV.clone();
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            frameCV = frameCV.clone();
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            cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_16UC1);
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            cv::add(frameCV, frameCVStacked0, frameCVStacked0, cv::noArray(), CV_32SC1);
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 223 
 
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            emit newFrame(0, frameCV);
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            emit newFrame(0, frameCV);
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            frame = camera1->getFrame();
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            frame = camera1->getFrame();
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            frameCV  = cv::Mat(frame.height, frame.width, CV_8UC1, frame.memory);
 227 
            frameCV  = cv::Mat(frame.height, frame.width, CV_16UC1, frame.memory);
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            frameCV = frameCV.clone();
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            frameCV = frameCV.clone();
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            cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_16UC1);
 229 
            cv::add(frameCV, frameCVStacked1, frameCVStacked1, cv::noArray(), CV_32SC1);
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 230 
 
223 
            emit newFrame(1, frameCV);
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            emit newFrame(1, frameCV);
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 232 
 
225 
        }
 233 
        }
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 234 
 
227 
        frameCVStacked0.convertTo(frameCVStacked0, CV_8UC1, 1.0/stacking);
 235 
        frameCVStacked0.convertTo(frameCVStacked0, CV_16UC1, 1.0/stacking);
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        frameCVStacked1.convertTo(frameCVStacked1, CV_8UC1, 1.0/stacking);
 236 
        frameCVStacked1.convertTo(frameCVStacked1, CV_16UC1, 1.0/stacking);
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 237 
 
230 
        frameSequence.frames0.push_back(frameCVStacked0);
 238 
        frameSequence.frames0.push_back(frameCVStacked0);
231 
        frameSequence.frames1.push_back(frameCVStacked1);
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        frameSequence.frames1.push_back(frameCVStacked1);
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233 
    }
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    }