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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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    private:
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    private:
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        SMCalibrationParameters calibration;
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        SMCalibrationParameters calibration;
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        CodingDir dir;
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        QTime time;
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        QTime time;
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        Algorithm *algorithm;
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        Algorithm *algorithm;
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        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
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        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
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};
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};
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