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            // Gray-scale and remap/rectify
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            // Gray-scale and remap/rectify
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            std::vector<cv::Mat> frames0Rect(N);
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            std::vector<cv::Mat> frames0Rect(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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                if(frames1[i].depth() == CV_8U)
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                if(frames0[i].depth() == CV_8U)
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                    cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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                    cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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                else
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                else
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                    temp = frames1[i];
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                    temp = frames0[i];
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                cv::remap(temp, frames0Rect[i],
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                cv::remap(temp, frames0Rect[i],
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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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