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//    cv::erode(occlusion1, occlusion1, strel);
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//    cv::erode(occlusion1, occlusion1, 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(up0, edges0, -1, 1, 1, 5);
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    cv::Sobel(up0, edges0, -1, 1, 1, 5);
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    occlusion0 = occlusion0 & (abs(edges0) < 150);
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    occlusion0 = occlusion0 & (abs(edges0) < 10);
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    cv::Mat edges1;
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    cv::Mat edges1;
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    cv::Sobel(up1, edges1, -1, 1, 1, 5);
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    cv::Sobel(up1, edges1, -1, 1, 1, 5);
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    occlusion1 = occlusion1 & (abs(edges1) < 150);
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    occlusion1 = occlusion1 & (abs(edges1) < 10);
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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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(occlusion0, "occlusion0.mat", "occlusion0");
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        cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
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        cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
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        cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
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    #endif
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    #endif
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    // Match phase maps
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    // Match phase maps