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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[i], CV_RGB2GRAY);
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        cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
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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;
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    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
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    cv::Mat color1 = frames1[0];
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    cv::Mat color1;
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    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
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    // occlusion masks
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    // occlusion masks
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    cv::Mat occlusion0, occlusion1;
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    cv::Mat occlusion0, occlusion1;
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    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
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    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
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    occlusion0 = occlusion0 > 25;
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    occlusion0 = occlusion0 > 25;