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    signals:
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    signals:
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        void newPointCloud(SMPointCloud pointCloud);
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        void newPointCloud(SMPointCloud pointCloud);
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        void error(const QString err);
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        void error(const 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(const std::vector<cv::Point2f>& q0, const std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
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        void triangulate(const std::vector<cv::Point2f>& q0,
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                         const std::vector<cv::Point2f>& q1,
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                         std::vector<cv::Point3f> &Q);
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    private:
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    private:
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        SMCalibrationParameters calibration;
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        SMCalibrationParameters calibration;
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        QTime time;
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        QTime time;
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        Algorithm *algorithm;
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        Algorithm *algorithm;