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                          CV_INTER_LINEAR);
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                          CV_INTER_LINEAR);
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            }
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            }
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            cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
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            cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
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            cv::remap(color0, color0,
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            cv::remap(color0, color0,
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                      stereoRect.map1X, stereoRect.map1Y,
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                      stereoRect.map0X, stereoRect.map0Y,
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                      CV_INTER_LINEAR);
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                      CV_INTER_LINEAR);
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            // Occlusion masks
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            // Occlusion masks
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            cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0);
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            cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0);
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            occlusion0 = (occlusion0 > 25) & (occlusion0 < 250);
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            occlusion0 = (occlusion0 > 25) & (occlusion0 < 250);