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    // Interpolation maps (lens distortion and rectification)
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    // Interpolation maps (lens distortion and rectification)
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    cv::Mat map0X, map0Y, map1X, map1Y;
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    cv::Mat map0X, map0Y, map1X, map1Y;
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    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);
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    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);
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    cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
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    cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
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    // gray-scale and remap
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    // Gray-scale and remap
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    for(unsigned int i=0; i<N; i++){
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    for(unsigned int i=0; i<N; i++){
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        cv::Mat temp;
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        cv::Mat temp;
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        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);