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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_BayerBG2GRAY);
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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_LINEAR);
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cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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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_LINEAR);
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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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// color debayer and remap
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// color debayer and remap
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cv::Mat temp;
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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::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
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cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
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cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
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cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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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
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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 > 25;
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occlusion0Rect = (occlusion0Rect > 25) & (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 > 25;
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occlusion1Rect = (occlusion1Rect > 25) & (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(3,3));
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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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//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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