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#ifndef M_PI
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#ifndef M_PI
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    #define M_PI 3.14159265358979323846
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    #define M_PI 3.14159265358979323846
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#endif
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#endif
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static unsigned int nPhases = 40;
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static unsigned int nPhases = 50;
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static unsigned int nSteps = 20;
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static unsigned int nSteps = 10;
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// Algorithm
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// Algorithm
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static cv::Mat computePhaseVector(unsigned int length, float phase, float pitch){
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static cv::Mat computePhaseVector(unsigned int length, float phase, float pitch){
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    cv::Mat phaseVector(length, 1, CV_8UC3);
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    cv::Mat phaseVector(length, 1, CV_8UC3);
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    cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);
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    cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);
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    occlusion0Rect = occlusion0Rect > 50;
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    occlusion0Rect = occlusion0Rect > 50;
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    cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);
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    cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);
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    occlusion1Rect = occlusion1Rect > 50;
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    occlusion1Rect = occlusion1Rect > 50;
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cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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    // Erode occlusion masks
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    // Erode occlusion masks
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    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
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    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
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    cv::erode(occlusion0Rect, occlusion0Rect, strel);
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    cv::erode(occlusion0Rect, occlusion0Rect, strel);
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    cv::erode(occlusion1Rect, occlusion1Rect, strel);
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    cv::erode(occlusion1Rect, occlusion1Rect, strel);
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    // Threshold on gradient of phase
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    // Threshold on gradient of phase
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    cv::Mat edges0;
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    cv::Mat edges0;
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    cv::Sobel(up0Rect, edges0, -1, 1, 1, 5);
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    cv::Sobel(up0Rect, edges0, -1, 1, 0, 5);
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    occlusion0Rect = occlusion0Rect & (abs(edges0) < 5);
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    occlusion0Rect = occlusion0Rect & (abs(edges0) < 150);
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    cv::Mat edges1;
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    cv::Mat edges1;
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    cv::Sobel(up1Rect, edges1, -1, 1, 1, 5);
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    cv::Sobel(up1Rect, edges1, -1, 1, 0, 5);
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    occlusion1Rect = occlusion1Rect & (abs(edges1) < 5);
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    occlusion1Rect = occlusion1Rect & (abs(edges1) < 150);
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cvtools::writeMat(edges0, "edges0.mat", "edges0");
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cvtools::writeMat(edges0, "edges0.mat", "edges0");
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cvtools::writeMat(edges1, "edges1.mat", "edges1");
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cvtools::writeMat(edges1, "edges1.mat", "edges1");
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cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
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cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
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    // Match phase maps
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    // Match phase maps
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    int frameRectRows = map0X.rows;
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    int frameRectRows = map0X.rows;
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    int frameRectCols = map0X.cols;
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    int frameRectCols = map0X.cols;
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    // camera0 against camera1
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    // camera0 against camera1