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    public slots:
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    public slots:
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        void setup();
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        void setup();
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        void reconstructPointCloud(SMFrameSequence frameSequence);
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        void reconstructPointCloud(SMFrameSequence frameSequence);
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        void reconstructPointClouds(std::vector<SMFrameSequence> frameSequences);
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        void reconstructPointClouds(std::vector<SMFrameSequence> frameSequences);
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    signals:
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    signals:
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        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);
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        void newPointCloud(SMPointCloud pointCloud);
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        void error(QString err);
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        void error(QString err);
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        void done();
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        void done();
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    private:
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    private:
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        void triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
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        void triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
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