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#include <stdio.h>
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#include <stdio.h>
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namespace cvtools{
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namespace cvtools{
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// Convert an BGR 3-channel image back into a Bayered image
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void cvtColorBGRToBayerBG(const cv::Mat &imBGR, cv::Mat &imBayerBG){
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    imBayerBG.create(imBGR.size(), CV_8UC1);
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    for(int r=0; r<imBGR.rows; r++){
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        for(int c=0; c<imBGR.cols; c++){
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            bool evenRow = r % 2;
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            bool evenCol = c % 2;
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            if(evenRow & evenCol)
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                imBayerBG.at<uchar>(r,c) = imBGR.at<cv::Vec3b>(r,c)[0];
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            else if(!evenRow & !evenCol)
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                imBayerBG.at<uchar>(r,c) = imBGR.at<cv::Vec3b>(r,c)[2];
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            else
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                imBayerBG.at<uchar>(r,c) = imBGR.at<cv::Vec3b>(r,c)[1];
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        }
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    }
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}
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// Removes matches not satisfying the epipolar constraint.
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// Removes matches not satisfying the epipolar constraint.
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// F is the fundamental matrix.
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// F is the fundamental matrix.
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// Works like cv::correctMatches(), except it removes matches with an error distance greater than maxD.
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// Works like cv::correctMatches(), except it removes matches with an error distance greater than maxD.
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void removeIncorrectMatches(const cv::Mat F, const std::vector<cv::Point2f> &q0, const std::vector<cv::Point2f> &q1, const float maxD,
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void removeIncorrectMatches(const cv::Mat F, const std::vector<cv::Point2f> &q0, const std::vector<cv::Point2f> &q1, const float maxD,
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                                std::vector<cv::Point2f> q0Correct, std::vector<cv::Point2f> q1Correct){
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                                std::vector<cv::Point2f> q0Correct, std::vector<cv::Point2f> q1Correct){