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//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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| 210 |
// 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(color0Rect, color0Rect, CV_BayerBG2RGB);
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cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);
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cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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215 |
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| 216 |
frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
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216 |
// frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
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cv::cvtColor(color1Rect, color1Rect, CV_BayerBG2RGB);
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217 |
cv::cvtColor(frames1[0], color1Rect, CV_BayerBG2RGB);
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| 218 |
cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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218 |
cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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219 |
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| 220 |
//cvtools::writeMat(frames0Rect[18], "frames0Rect_18.mat", "frames0Rect_18");
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//cvtools::writeMat(frames0Rect[18], "frames0Rect_18.mat", "frames0Rect_18");
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//cvtools::writeMat(frames0Rect[19], "frames0Rect_19.mat", "frames0Rect_19");
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//cvtools::writeMat(frames0Rect[19], "frames0Rect_19.mat", "frames0Rect_19");
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| 233 |
cv::remap(frames1Gray[1], frames1OffRect, map1X, map1Y, CV_INTER_LINEAR);
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233 |
cv::remap(frames1Gray[1], frames1OffRect, map1X, map1Y, CV_INTER_LINEAR);
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| 234 |
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234 |
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| 235 |
// Occlusion masks
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235 |
// Occlusion masks
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| 236 |
cv::Mat occlusion0Rect, occlusion1Rect;
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236 |
cv::Mat occlusion0Rect, occlusion1Rect;
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| 237 |
cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);
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237 |
cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);
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occlusion0Rect = (occlusion0Rect > 6400) & (occlusion0Rect < 50000);
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238 |
occlusion0Rect = (occlusion0Rect > 25) & (occlusion0Rect < 250);
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| 239 |
cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);
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239 |
cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);
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| 240 |
occlusion1Rect = (occlusion1Rect > 6400) & (occlusion1Rect < 50000);
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240 |
occlusion1Rect = (occlusion1Rect > 25) & (occlusion1Rect < 250);
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| 241 |
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241 |
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| 242 |
//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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| 243 |
//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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243 |
//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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| 244 |
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244 |
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| 245 |
// Erode occlusion masks
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245 |
// Erode occlusion masks
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