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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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    time.start();
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    time.start();
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    // Decompress frames
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    int nFrames = frameSequence.compressedFrames0.size();
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    std::vector<cv::Mat> frames0(nFrames), frames1(nFrames);
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    for(int i=0; i<nFrames; i++){
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        cv::imdecode(frameSequence.compressedFrames0[i], CV_LOAD_IMAGE_COLOR, &frames0[i]);
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        cv::imdecode(frameSequence.compressedFrames1[i], CV_LOAD_IMAGE_COLOR, &frames1[i]);
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    }
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    // Get 3D Points
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    // Get 3D Points
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Vec3b> color;
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    std::vector<cv::Vec3b> color;
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    algorithm->get3DPoints(calibration, frames0, frames1, Q, color);
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    algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);
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    // Convert point cloud to PCL format
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    // Convert point cloud to PCL format
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    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);
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    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);
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    pointCloudPCL->width = Q.size();
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    pointCloudPCL->width = Q.size();