| Line 147... |
Line 147... |
| 147 |
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147 |
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| 148 |
// Gray-scale everything
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148 |
// Gray-scale everything
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| 149 |
std::vector<cv::Mat> frames0Gray(N);
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149 |
std::vector<cv::Mat> frames0Gray(N);
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| 150 |
std::vector<cv::Mat> frames1Gray(N);
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150 |
std::vector<cv::Mat> frames1Gray(N);
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| 151 |
for(int i=0; i<N; i++){
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151 |
for(int i=0; i<N; i++){
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| 152 |
cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
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152 |
cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
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| 153 |
cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
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153 |
cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
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| 154 |
}
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154 |
}
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| 155 |
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155 |
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| 156 |
// Decode camera0
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156 |
// Decode camera0
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| 157 |
std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);
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157 |
std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);
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| 158 |
std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+2+2*nSteps);
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158 |
std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+2+2*nSteps);
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| Line 204... |
Line 204... |
| 204 |
cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);
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204 |
cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);
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| 205 |
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205 |
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| 206 |
//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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206 |
//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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| 207 |
//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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| 208 |
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208 |
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| 209 |
// Color remaps
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209 |
// Color debayer and remaps
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| - |
|
210 |
cv::Mat temp;
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| 210 |
cv::Mat color0Rect, color1Rect;
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211 |
cv::Mat color0Rect, color1Rect;
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| - |
|
212 |
cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
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| 211 |
cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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213 |
cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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| - |
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214 |
cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
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| 212 |
cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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215 |
cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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| 213 |
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216 |
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| 214 |
//cvtools::writeMat(color0Rect, "color0Rect.mat", "color0Rect");
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217 |
//cvtools::writeMat(color0Rect, "color0Rect.mat", "color0Rect");
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| 215 |
//cvtools::writeMat(color1Rect, "color1Rect.mat", "color1Rect");
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218 |
//cvtools::writeMat(color1Rect, "color1Rect.mat", "color1Rect");
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| 216 |
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219 |
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| 217 |
// On/off remaps
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220 |
// On/off remaps
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