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    std::vector<cv::Vec4i>::iterator it;
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    std::vector<cv::Vec4i>::iterator it;
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    it = std::unique(edges.begin(), edges.end(), sortingEqual);
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    it = std::unique(edges.begin(), edges.end(), sortingEqual);
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    edges.resize(std::distance(edges.begin(),it));
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    edges.resize(std::distance(edges.begin(),it));
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}
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}
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void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
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void AlgorithmGrayCode::get3DPoints(const SMCalibrationParameters &calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
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    assert(frames0.size() == N);
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    assert(frames0.size() == N);
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    assert(frames1.size() == N);
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    assert(frames1.size() == N);
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//    for(int i=0; i<1920; i++){
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//    for(int i=0; i<1920; i++){