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Rev 127 Rev 128
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        float hI = h.at<float>(0, i);
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        float hI = h.at<float>(0, i);
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        int codeI = codeScanLine.at<int>(0, i);
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        int codeI = codeScanLine.at<int>(0, i);
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        //int codeRight = codeScanLine.at<int>(0, i+1);
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        //int codeRight = codeScanLine.at<int>(0, i+1);
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        if((codeI != -1) && (fI > 1) && (gI >= 0.0) && (gRight <= 0.0) && (gRight < gI) && (hI < -2.0)){
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        if((codeI != -1) && (fI > 10) && (gI >= 0.0) && (gRight <= 0.0) && (gRight < gI) && (hI < -1.0)){
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            float delta = gI/(gI - gRight);
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            float delta = gI/(gI - gRight);
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            lineCenters.push_back(cv::Vec2f(i + delta, codeI));
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            lineCenters.push_back(cv::Vec2f(i + delta, codeI));
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        }
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        }
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    }
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    }