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void AlgorithmPhaseShiftTwoFreq::
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void AlgorithmPhaseShiftTwoFreq::
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    get3DPoints(const SMCalibrationParameters & calibration,
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    get3DPoints(const SMCalibrationParameters & calibration,
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                const std::vector<cv::Mat>& frames0,
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                const std::vector<cv::Mat>& frames0,
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                const std::vector<cv::Mat>& frames1,
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                const std::vector<cv::Mat>& frames1,
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                std::vector<cv::Point3f>& Q,
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                std::vector<cv::Point3f>& Q,
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                std::vector<cv::Vec3b>& color){
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                std::vector<cv::Vec3f>& color){
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    assert(frames0.size() == N);
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    assert(frames0.size() == N);
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    assert(frames1.size() == N);
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    assert(frames1.size() == N);
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    StereoRectifyier stereoRect;
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    StereoRectifyier stereoRect;
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                          stereoRect.map0X, stereoRect.map0Y,
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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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            }
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            }
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            // If images are HDR (float), we need to convert to uchar
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            // If images are HDR (float), we need to convert to uchar
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            frames0Rect[0].convertTo(color0, CV_8UC3);
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            frames0Rect[0].convertTo(color0, CV_32FC3);
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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);
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                          stereoRect.map1X, stereoRect.map1Y,
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                          stereoRect.map1X, stereoRect.map1Y,
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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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            // If images are HDR (float), we need to convert to uchar
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            // If images are HDR (float), we need to convert to uchar
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            frames1Rect[0].convertTo(color1, CV_8UC3);
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            frames1Rect[0].convertTo(color1, CV_32FC3);
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            // Occlusion masks
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            // Occlusion masks
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            cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1);
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            cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1);
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            occlusion1 = (occlusion1 > 25) & (occlusion1 < 250);
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            occlusion1 = (occlusion1 > 25) & (occlusion1 < 250);
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    else {
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    else {
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        // Retrieve color information
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        // Retrieve color information
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        color.resize(nMatches);
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        color.resize(nMatches);
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        for(unsigned int i=0; i<nMatches; i++){
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        for(unsigned int i=0; i<nMatches; i++){
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            cv::Vec3b c0 = color0.at<cv::Vec3b>(int(q0[i][1]), int(q0[i][0]));
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            cv::Vec3f c0 = color0.at<cv::Vec3f>(int(q0[i][1]), int(q0[i][0]));
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            cv::Vec3b c1 = color1.at<cv::Vec3b>(int(q1[i][1]), int(q1[i][0]));
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            cv::Vec3f c1 = color1.at<cv::Vec3f>(int(q1[i][1]), int(q1[i][0]));
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            color[i] = 0.5*c0 + 0.5*c1;
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            color[i] = 0.5*c0 + 0.5*c1;
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        }
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        }
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    }
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    }
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