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        int getscreenCols(){return screenCols;}
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        int getscreenCols(){return screenCols;}
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        int getscreenRows(){return screenRows;}
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        int getscreenRows(){return screenRows;}
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        // Encoding
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        // Encoding
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        cv::Mat getEncodingPattern(unsigned int depth);
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        cv::Mat getEncodingPattern(unsigned int depth);
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        // Matching
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        // Matching
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        void 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 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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    protected:
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    protected:
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        std::vector<cv::Mat> patterns;
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        std::vector<cv::Mat> patterns;
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        unsigned int Nbits;
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        unsigned int Nbits;
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};
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};
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