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}
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}
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// Algorithm
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// Algorithm
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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    Nbits = ceilf(log2f((float)screenCols));
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    Nbits = ceilf(log2f((float)screenCols)) - 1;
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    N = 2 + Nbits*2;
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    N = 2 + Nbits*2;
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    // all on pattern
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    // all on pattern
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    patterns.push_back(allOn);
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    patterns.push_back(allOn);
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        for(unsigned int j=0; j<screenCols; j++){
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        for(unsigned int j=0; j<screenCols; j++){
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            unsigned int jGray = binaryToGray(j);
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            unsigned int jGray = binaryToGray(j);
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            // Amplitude of channels
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            // Amplitude of channels
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            int bit = (int)getBit(jGray, Nbits-p);
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            int bit = (int)getBit(jGray, Nbits-p+1);
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            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            int invBit = bit^1;
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            int invBit = bit^1;
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            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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        }
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        }
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        patterns.push_back(pattern);
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        patterns.push_back(pattern);
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//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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    // occlusion masks
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    // occlusion masks
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    cv::Mat occlusion0Rect, occlusion1Rect;
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    cv::Mat occlusion0Rect, occlusion1Rect;
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    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
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    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
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    occlusion0Rect = (occlusion0Rect > 20) & (occlusion0Rect < 250);
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    occlusion0Rect = (occlusion0Rect > 10) & (occlusion0Rect < 250);
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    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
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    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
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    occlusion1Rect = (occlusion1Rect > 20) & (occlusion1Rect < 250);
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    occlusion1Rect = (occlusion1Rect > 10) & (occlusion1Rect < 250);
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    // erode occlusion masks
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    // erode occlusion masks
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    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));
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    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));
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    cv::erode(occlusion0Rect, occlusion0Rect, strel);
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    cv::erode(occlusion0Rect, occlusion0Rect, strel);
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    cv::erode(occlusion1Rect, occlusion1Rect, strel);
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    cv::erode(occlusion1Rect, occlusion1Rect, strel);
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//        cv::add(frames0Rect[i], E, frames0Rect[i], cv::noArray(), CV_16UC1);
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//        cv::add(frames0Rect[i], E, frames0Rect[i], cv::noArray(), CV_16UC1);
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//        cv::add(frames0Rect[i+1], E, frames0Rect[i+1], cv::noArray(), CV_16UC1);
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//        cv::add(frames0Rect[i+1], E, frames0Rect[i+1], cv::noArray(), CV_16UC1);
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//    }
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//    }
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    // correct for texture modulation and ambient
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//    // correct for texture modulation and ambient
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    cv::Mat A0 = frames0Rect[1];
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//    cv::Mat A0 = frames0Rect[1];
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    cv::Mat M0 = frames0Rect[0]-frames0Rect[1];
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//    cv::Mat M0 = frames0Rect[0]-frames0Rect[1];
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//cvtools::writeMat(A0, "A0.mat", "A0");
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////cvtools::writeMat(A0, "A0.mat", "A0");
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//cvtools::writeMat(M0, "M0.mat", "M0");
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////cvtools::writeMat(M0, "M0.mat", "M0");
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//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
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////cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
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//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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////cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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    cv::divide(256.0, M0, M0, CV_32F);
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//    cv::divide(256.0, M0, M0, CV_32F);
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    cv::Mat A1 = frames1Rect[1];
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//    cv::Mat A1 = frames1Rect[1];
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    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
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//    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
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    cv::divide(256.0, M1, M1, CV_32F);
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//    cv::divide(256.0, M1, M1, CV_32F);
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    for(int i=2; i<N; i++){
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//    for(int i=2; i<N; i++){
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        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_8UC1);
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//        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_8UC1);
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        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_8UC1);
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//        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_8UC1);
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    }
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//    }
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//cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
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//cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
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//cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
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//cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
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//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");