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    // gray-scale and remap
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    // gray-scale and remap
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    for(int i=0; i<N; i++){
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    for(int i=0; i<N; i++){
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        cv::Mat temp;
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        cv::Mat temp;
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        cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);
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        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_CUBIC);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_CUBIC);
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        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_CUBIC);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_CUBIC);
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    }
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    }
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//    cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
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//    cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
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//    cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
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//    cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
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//    cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
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//    cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
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//    cv::imwrite("frames1[0].png", frames1[0]);
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//    cv::imwrite("frames1[0].png", frames1[0]);
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//    cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
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//    cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
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    // color remaps
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    // color debayer and remap
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    cv::Mat temp;
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    cv::Mat color0Rect, color1Rect;
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    cv::Mat color0Rect, color1Rect;
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    cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
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    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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    cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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    cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
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    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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    cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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    int frameRectRows = frames0Rect[0].rows;
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    int frameRectRows = frames0Rect[0].rows;
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    int frameRectCols = frames0Rect[0].cols;
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    int frameRectCols = frames0Rect[0].cols;
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    // occlusion masks
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    // occlusion masks