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        res *= num;
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        res *= num;
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    return res;
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    return res;
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}
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}
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// Encoder
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// Algorithm
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EncoderGrayCode::EncoderGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodecDir _dir) : Encoder(_screenCols, _screenRows, _dir){
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodecDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
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    // Number of horizontal encoding patterns
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    // Number of horizontal encoding patterns
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    Nhorz = 10;
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    Nhorz = ceilf(log2f((float)screenCols));;
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    // Number of vertical encoding patterns
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    // Number of vertical encoding patterns
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    Nvert = 8;
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    Nvert = ceilf(log2f((float)screenRows));;
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    // Set total pattern number
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    // Set total pattern number
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    if(dir & CodecDirHorizontal)
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    if(dir & CodecDirHorizontal)
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        this->N += Nhorz;
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        this->N += Nhorz;
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            patterns.push_back(patternP);
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            patterns.push_back(patternP);
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        }
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        }
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    }
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    }
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}
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}
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cv::Mat EncoderGrayCode::getEncodingPattern(unsigned int depth){
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cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
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    return patterns[depth];
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    return patterns[depth];
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}
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}
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// Decoder
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// Algorithm
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DecoderGrayCode::DecoderGrayCode(CodecDir _dir) : Decoder(_dir){
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AlgorithmGrayCode::AlgorithmGrayCode(CodecDir _dir, int _screenResX, int _screenResY) : Algorithm(_dir, _screenResX, _screenResY){
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    // Number of horizontal encoding patterns
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    // Number of horizontal encoding patterns
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    Nhorz = 10;
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    Nhorz = ceilf(log2f((float)screenCols));;
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    // Number of vertical encoding patterns
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    // Number of vertical encoding patterns
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    Nvert = 8;
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    Nvert = ceilf(log2f((float)screenRows));;
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 - 
 
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}
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}
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void DecoderGrayCode::decodeFrames(const std::vector<cv::Mat> frames, cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading){
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void AlgorithmGrayCode::getCorrespondences(const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
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    // Get shading (max) image
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    shading = cv::Scalar(0);
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    for(unsigned int f=0; f<frames.size(); f++){
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        shading = cv::max(shading, frames[f]);
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    }
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    // Get min image
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    cv::Mat minImage(shading.size(), CV_8U, cv::Scalar(255));
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    for(unsigned int f=0; f<frames.size(); f++){
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        minImage = cv::min(minImage, frames[f]);
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    }
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    // Threshold shading image for mask
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    mask = (shading/minImage) > 2;
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    // Binarize frames. TODO: subpixel interpolation.
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    vector<cv::Mat> framesBinary(frames.size());
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    for(unsigned int i=0; i<frames.size(); i++){
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        // Foreground pixels 1, background 0
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        //cv::threshold(frames[i], framesBinary[i], 80, 1, cv::THRESH_BINARY);
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        framesBinary[i].create(frames[0].size(), CV_8U);
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        framesBinary[i] = cv::abs(shading-frames[i]) < cv::abs(frames[i]-minImage);
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        cv::threshold(framesBinary[i], framesBinary[i], 1, 1, cv::THRESH_BINARY);
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    }
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    if(dir & CodecDirHorizontal){
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        vector<cv::Mat> framesHorz(framesBinary.begin(), framesBinary.begin()+Nhorz);
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        // Construct up image.
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        for(int i = 0; i < up.rows; i++){
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            for(int j = 0; j < up.cols; j++){
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                unsigned int enc = 0;
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                for(unsigned int f=0; f<framesHorz.size(); f++){
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                    // Gray decimal
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                    enc += powi(2, Nhorz-f-1)*framesHorz[f].at<unsigned char>(i,j);
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                }
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                // Standard decimal
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                enc = grayToBinary(enc, Nhorz);
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                up.at<float>(i,j) = enc;
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            }
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        }
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    }
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    if(dir & CodecDirVertical){
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        vector<cv::Mat> framesVert(framesBinary.end()-Nvert, framesBinary.end());
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        // Construct vp image.
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        for(int i = 0; i < vp.rows; i++){
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            for(int j = 0; j < vp.cols; j++){
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                unsigned int enc = 0;
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                for(unsigned int f=0; f<framesVert.size(); f++){
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                    // Gray decimal
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                    enc += powi(2, Nvert-f-1)*framesVert[f].at<unsigned char>(i,j);
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                }
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                // Standard decimal
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                enc = grayToBinary(enc, Nvert);
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                vp.at<float>(i,j) = enc;
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            }
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        }
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    }
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}
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}