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cv::Mat AlgorithmGrayCodeHQ::getEncodingPattern(unsigned int depth){
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cv::Mat AlgorithmGrayCodeHQ::getEncodingPattern(unsigned int depth){
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    return patterns[depth];
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    return patterns[depth];
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}
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}
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bool sortingLarger(cv::Vec3i i,cv::Vec3i j){ return (i[2]<j[2]);}
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static bool sortingLarger(cv::Vec3d i,cv::Vec3d j){ return (i[2]<j[2]);}
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bool sortingEqual(cv::Vec3i i,cv::Vec3i j){ return (i[2]==j[2]);}
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static bool sortingEqual(cv::Vec3d i,cv::Vec3d j){ return (i[2]==j[2]);}
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void getIntersectionLabels(const cv::Mat& codeHorz, const cv::Mat& codeVert, int NbitsHorz, int NbitsVert, std::vector<cv::Vec3i>& intersections){
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static void getIntersectionLabels(const cv::Mat& codeHorz, const cv::Mat& codeVert, int NbitsHorz, int NbitsVert, std::vector< cv::Vec3d >& intersections){
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    int nRows = codeHorz.rows;
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    int nRows = codeHorz.rows;
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    int nCols = codeHorz.cols;
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    int nCols = codeHorz.cols;
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    int labelHorz;
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    int labelHorz;
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               countBits(labelHorz^labelHorzRight) == 1 &&
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               countBits(labelHorz^labelHorzRight) == 1 &&
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               labelVert != -1 && labelVertBelow != -1 &&
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               labelVert != -1 && labelVertBelow != -1 &&
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               countBits(labelVert^labelVertBelow) == 1){
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               countBits(labelVert^labelVertBelow) == 1){
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                // OVERFLOW??
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                // OVERFLOW??
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                int orderingRelation = (labelHorz << NbitsHorz+2*NbitsVert) + (labelHorzRight << 2*NbitsVert) +
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                double orderingRelation = ((ulong)labelHorz << NbitsHorz+2*NbitsVert) + ((ulong)labelHorzRight << 2*NbitsVert) +
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                                       (labelVert << NbitsVert) + labelVertBelow;
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                                          ((ulong)labelVert << NbitsVert) + (ulong)labelVertBelow;
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                // store left label column
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                // store left label column
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                intersections.push_back(cv::Vec3i(row, col, orderingRelation));
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                intersections.push_back(cv::Vec3d(row, col, orderingRelation));
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            }
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            }
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        }
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        }
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    }
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    }
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    // sort
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    // sort
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    std::sort(intersections.begin(), intersections.end(), sortingLarger);
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    std::sort(intersections.begin(), intersections.end(), sortingLarger);
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    // remove duplicates
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    // remove duplicates
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    std::vector<cv::Vec3i>::iterator it;
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    std::vector< cv::Vec3d >::iterator it;
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    it = std::unique(intersections.begin(), intersections.end(), sortingEqual);
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    it = std::unique(intersections.begin(), intersections.end(), sortingEqual);
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    intersections.resize(std::distance(intersections.begin(),it));
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    intersections.resize(std::distance(intersections.begin(),it));
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}
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}
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cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
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static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
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    assert(!img.empty());
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    assert(!img.empty());
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    assert(img.channels() == 3);
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    assert(img.channels() == 3);
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    int x = (int)pt.x;
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    int x = (int)pt.x;
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    int y = (int)pt.y;
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    int y = (int)pt.y;
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    // gray-scale
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    // gray-scale
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    std::vector<cv::Mat> frames0Gray(N);
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    std::vector<cv::Mat> frames0Gray(N);
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    std::vector<cv::Mat> frames1Gray(N);
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    std::vector<cv::Mat> frames1Gray(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::cvtColor(frames0[i], frames0Gray, CV_RGB2GRAY);
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        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray, CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
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    }
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    }
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    // colors
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    // colors
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    cv::Mat color0 = frames0[0];
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    cv::Mat color0 = frames0[0];
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    cv::Mat color1 = frames1[0];
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    cv::Mat color1 = frames1[0];
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            }
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            }
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        }
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        }
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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::Vec3i> intersections0, intersections1;
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    std::vector< cv::Vec3d > intersections0, intersections1;
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    // intersection data structure containing [floor(row), floor(column), orderingRelation]
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    // intersection data structure containing [floor(row), floor(column), orderingRelation]
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    getIntersectionLabels(code0Horz, code0Vert, NbitsHorz, NbitsVert, intersections0);
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    getIntersectionLabels(code0Horz, code0Vert, NbitsHorz, NbitsVert, intersections0);
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    getIntersectionLabels(code1Horz, code1Vert, NbitsHorz, NbitsVert, intersections1);
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    getIntersectionLabels(code1Horz, code1Vert, NbitsHorz, NbitsVert, intersections1);
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 322 
 
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    // match intersections
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    // match intersections
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    std::vector<cv::Vec3i> matches0, matches1;
 324 
    std::vector< cv::Vec3d > matches0, matches1;
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    int i=0, j=0;
 325 
    int i=0, j=0;
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 326 
 
327 
    while(i<intersections0.size() && j<intersections1.size()){
 327 
    while(i<intersections0.size() && j<intersections1.size()){
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        if(intersections0[i][2] == intersections1[j][2]){
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        if(intersections0[i][2] == intersections1[j][2]){
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            matches0.push_back(intersections0[i]);
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            matches0.push_back(intersections0[i]);
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        } else if(intersections0[i][2] > intersections1[j][2]){
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        } else if(intersections0[i][2] > intersections1[j][2]){
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            j += 1;
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            j += 1;
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        }
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        }
338 
    }
 338 
    }
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- 
 
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    int nMatches = matches0.size();
- 
 
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- 
 
 342 
    if(nMatches < 1){
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 343 
        Q.resize(0);
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        color.resize(0);
- 
 
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- 
 
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        return;
- 
 
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    }
- 
 
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    std::vector<cv::Vec2f> q0, q1;
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    std::vector<cv::Vec2f> q0(nMatches), q1(nMatches);
- 
 
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- 
 
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    for(int i=0; i<nMatches; i++){
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        q0[i] = cv::Vec2f(matches0[i][1], matches0[i][0]);
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        q1[i] = cv::Vec2f(matches1[i][1], matches1[i][0]);
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    }
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    // TODO: subpixel refinement in both horizontal and vertical
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    // TODO: subpixel refinement in both horizontal and vertical
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//    // subpixel refinement finds the intersection of linear interpolants in the positive/negative pattern
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//    // subpixel refinement finds the intersection of linear interpolants in the positive/negative pattern
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//    for(int i=0; i<matchedEdges0.size(); i++){
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//    for(int i=0; i<matchedEdges0.size(); i++){
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//        q1Rect.push_back(cv::Point2f(col, row));
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//        q1Rect.push_back(cv::Point2f(col, row));
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 385 
 
372 
//    }
 386 
//    }
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 387 
 
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375 
    int nMatches = q0.size();
 - 
 
376 
 
 - 
 
377 
    if(nMatches < 1){
 - 
 
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        Q.resize(0);
 - 
 
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        color.resize(0);
 - 
 
380 
 
 389 
 
381 
        return;
 - 
 
382 
    }
 - 
 
383 
 
 390 
 
384 
    // retrieve color information (at integer coordinates)
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    // retrieve color information (at integer coordinates)
385 
    color.resize(nMatches);
 392 
    color.resize(nMatches);
386 
    for(int i=0; i<nMatches; i++){
 393 
    for(int i=0; i<nMatches; i++){
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 394 
 
388 
        cv::Vec3b c0 = color0.at<cv::Vec3b>(q0[i][1], q0[i][0]);
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//        cv::Vec3b c0 = color0.at<cv::Vec3b>(q0[i][1], q0[i][0]);
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        cv::Vec3b c1 = color1.at<cv::Vec3b>(q1[i][1], q1[i][0]);
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//        cv::Vec3b c1 = color1.at<cv::Vec3b>(q1[i][1], q1[i][0]);
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//        cv::Vec3b c0 = getColorSubpix(color0Rect, q0Rect[i]);
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        cv::Vec3b c0 = getColorSubpix(color0, q0[i]);
391 
//        cv::Vec3b c1 = getColorSubpix(color1Rect, q0Rect[i]);
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        cv::Vec3b c1 = getColorSubpix(color1, q1[i]);
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 399 
 
393 
        color[i] = 0.5*c0 + 0.5*c1;
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        color[i] = 0.5*c0 + 0.5*c1;
394 
    }
 401 
    }
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 402 
 
396 
    // triangulate points
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    // triangulate points