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    // amplitude remaps
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    // amplitude remaps
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    cv::Mat amplitude0Rect, amplitude1Rect;
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    cv::Mat amplitude0Rect, amplitude1Rect;
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    cv::remap(amplitude0, amplitude0Rect, map0X, map0Y, CV_INTER_LINEAR);
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    cv::remap(amplitude0, amplitude0Rect, map0X, map0Y, CV_INTER_LINEAR);
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    cv::remap(amplitude1, amplitude1Rect, map1X, map1Y, CV_INTER_LINEAR);
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    cv::remap(amplitude1, amplitude1Rect, map1X, map1Y, CV_INTER_LINEAR);
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cvtools::writeMat(amplitude0Rect, "amplitude0Rect.mat", "amplitude0Rect");
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//cvtools::writeMat(amplitude0Rect, "amplitude0Rect.mat", "amplitude0Rect");
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cvtools::writeMat(amplitude1Rect, "amplitude1Rect.mat", "amplitude1Rect");
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//cvtools::writeMat(amplitude1Rect, "amplitude1Rect.mat", "amplitude1Rect");
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    // color debayer and remap
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    // color debayer and remap
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    cv::Mat color0Rect, color1Rect;
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    cv::Mat color0Rect, color1Rect;
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//    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
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//    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
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    cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);
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    cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);