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    // Gray-scale
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    // Gray-scale
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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(unsigned int i=0; i<N; i++){
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    for(unsigned int i=0; i<N; i++){
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        if(frames0[i].depth() == CV_8U)
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        cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
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            cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
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        else if(frames0[i].channels() == 3)
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            cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
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        else
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            frames0Gray[i] = frames0[i];
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        if(frames1[i].depth() == CV_8U)
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        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
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            cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
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        else if(frames1[i].channels() == 3)
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            cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
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        else
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            frames1Gray[i] = frames1[i];
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    }
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    }
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    // Decode camera0 (horizontal)
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    // Decode camera0 (horizontal)
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    std::vector<cv::Mat> frames0PrimaryHorz(frames0Gray.begin()+2, frames0Gray.begin()+2+nStepsPrimary);
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    std::vector<cv::Mat> frames0PrimaryHorz(frames0Gray.begin()+2, frames0Gray.begin()+2+nStepsPrimary);
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    cv::Mat up0Primary, amplitude0PrimaryHorz, energy0PrimaryHorz;
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    cv::Mat up0Primary, amplitude0PrimaryHorz, energy0PrimaryHorz;
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        cvtools::writeMat(vp1, "vp1.mat", "vp1");
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        cvtools::writeMat(vp1, "vp1.mat", "vp1");
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    #endif
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    #endif
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    // color debayer and remap
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    // color debayer and remap
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    cv::Mat color0, color1;
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    cv::Mat color0, color1;
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    if(frames0[0].depth() == CV_8U)
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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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    else
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        color0 = frames0[0];
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    if(frames1[0].depth() == CV_8U)
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    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
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        cv::cvtColor(frames1[0], color1, CV_BayerBG2GRAY);
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    else
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        color1 = frames1[0];
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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        cvtools::writeMat(color0, "color0.mat", "color0");
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        cvtools::writeMat(color0, "color0.mat", "color0");
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        cvtools::writeMat(color1, "color1.mat", "color1");
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        cvtools::writeMat(color1, "color1.mat", "color1");
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    #endif
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    #endif