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    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
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    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
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    QMat = R0Inv*QMat;
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    QMat = R0Inv*QMat;
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    cvtools::matToPoints3f(QMat, Q);
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    cvtools::matToPoints3f(QMat, Q);
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//    // Triangulate by means of disparity projection
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//    Q.resize(q0.size());
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//    for(int i=0; i<q0.size(); i++){
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//        cv::Vec4d Qih = QRect*cv::Vec4d(x, y, q1[i]-q0[i], 1.0);
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//        Q[i] = cv::Point3f(Qih[0]/Qih[3], Qih[1]/Qih[3], Qih[2]/Qih[3]);
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//    }
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}
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}