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    // Gray-scale everything
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    // Gray-scale everything
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    std::vector<cv::Mat> frames0Gray(N);
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    std::vector<cv::Mat> frames0Gray(N);
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    std::vector<cv::Mat> frames1Gray(N);
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    std::vector<cv::Mat> frames1Gray(N);
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    for(int i=0; i<N; i++){
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    for(int i=0; i<N; i++){
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        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
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        cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
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    }
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    }
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    // Decode camera0
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    // Decode camera0
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    std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);
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    std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);
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    std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+2+2*nSteps);
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    std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+2+2*nSteps);
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    cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);
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    cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);
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//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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//cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
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//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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//cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
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    // Color remaps
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    // Color debayer and remaps
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    cv::Mat temp;
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    cv::Mat color0Rect, color1Rect;
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    cv::Mat color0Rect, color1Rect;
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    cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
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    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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    cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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    cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
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    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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    cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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//cvtools::writeMat(color0Rect, "color0Rect.mat", "color0Rect");
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//cvtools::writeMat(color0Rect, "color0Rect.mat", "color0Rect");
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//cvtools::writeMat(color1Rect, "color1Rect.mat", "color1Rect");
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//cvtools::writeMat(color1Rect, "color1Rect.mat", "color1Rect");
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    // On/off remaps
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    // On/off remaps