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Line 206... Line 206...
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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_RGB2GRAY);
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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[1], "frames0Rect_1.mat", "frames0Rect_1");
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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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//    cv::imwrite("frames0[0].png", frames0[0]);
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//    cv::imwrite("frames0[0].png", frames0[0]);
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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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//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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    // decode patterns
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    // decode patterns
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    cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(-1));
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    cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
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    cv::Mat code1Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(-1));
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    cv::Mat code1Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
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    cv::add(code0Rect, 1, code0Rect, occlusion0Rect, CV_32S);
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    cv::add(code1Rect, 1, code1Rect, occlusion1Rect, CV_32S);
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    // into gray code
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    // into gray code
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    for(int i=0; i<Nbits; i++){
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    for(int i=0; i<Nbits; i++){
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        cv::Mat bit0;
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        cv::Mat bit0;
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        cv::subtract(frames0Rect[i*2+2], frames0Rect[i*2+3], bit0);
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        cv::subtract(frames0Rect[i*2+2], frames0Rect[i*2+3], bit0);
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        bit0 = bit0 > 0;
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        bit0 = bit0 > 0;
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        bit0.convertTo(bit0, CV_32S, 1.0/255.0);
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        bit0.convertTo(bit0, CV_32S, 1.0/255.0);
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//      cvtools::writeMat(bit0, "bit0.mat", "bit0");
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//      cvtools::writeMat(bit0, "bit0.mat", "bit0");
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        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, occlusion0Rect, CV_32S);
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        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::Mat(), CV_32S);
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        cv::Mat bit1;
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        cv::Mat bit1;
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        cv::subtract(frames1Rect[i*2+2], frames1Rect[i*2+3], bit1);
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        cv::subtract(frames1Rect[i*2+2], frames1Rect[i*2+3], bit1);
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        bit1 = bit1 > 0;
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        bit1 = bit1 > 0;
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        bit1.convertTo(bit1, CV_32S, 1.0/255.0);
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        bit1.convertTo(bit1, CV_32S, 1.0/255.0);
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        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, occlusion1Rect, CV_32S);
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        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::Mat(), CV_32S);
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    }
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    }
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//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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//    // convert to standard binary
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//    // convert to standard binary
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//    cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);
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//    cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);
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//    for(int r=0; r<frameRectRows; r++){
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//    for(int r=0; r<frameRectRows; r++){
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//        for(int c=0; c<frameRectCols; c++){
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//        for(int c=0; c<frameRectCols; c++){
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//            if(code0Rect.at<int>(r,c) != -1)
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//            if(code0Rect.at<int>(r,c) != -1)
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//                code0Rect.at<int>(r,c) = grayToBinary(code0Rect.at<int>(r,c));
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//                code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));
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//            if(code1Rect.at<int>(r,c) != -1)
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//            if(code1Rect.at<int>(r,c) != -1)
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//                code1Rect.at<int>(r,c) = grayToBinary(code1Rect.at<int>(r,c));
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//                code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));
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//        }
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//        }
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//    }
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//    }
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//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
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//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
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//    // threshold on vertical discontinuities (due to imperfect rectification)
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//    cv::Mat edges0;
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//    cv::Sobel(code0Binary, edges0, -1, 0, 1, 5);
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//    occlusion0Rect = occlusion0Rect & (abs(edges0) < 50);
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//    cv::Mat edges1;
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//    cv::Sobel(code1Binary, edges1, -1, 0, 1, 5);
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//    occlusion1Rect = occlusion1Rect & (abs(edges1) < 50);
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//cvtools::writeMat(edges0, "edges0.mat", "edges0");
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//cvtools::writeMat(edges1, "edges1.mat", "edges1");
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    // set occluded pixels to -1
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    for(int r=0; r<frameRectRows; r++){
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        for(int c=0; c<frameRectCols; c++){
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            if(occlusion0Rect.at<char>(r,c) == 0)
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                code0Rect.at<float>(r,c) = -1;
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            if(occlusion1Rect.at<char>(r,c) == 0)
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                code1Rect.at<float>(r,c) = -1;
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        }
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    }
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    // matching
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    // matching
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    std::vector<cv::Vec2f> q0Rect, q1Rect;
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    std::vector<cv::Vec2f> q0Rect, q1Rect;
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    for(int row=0; row<frameRectRows; row++){
 309 
    for(int row=0; row<frameRectRows; row++){
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