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    for(int m=1; m<M; m++)
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    for(int m=1; m<M; m++)
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        up += upm[m];
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        up += upm[m];
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    up /= M;
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    up /= M;
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}
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}
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void AlgorithmPhaseShiftEmbedded::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 AlgorithmPhaseShiftEmbedded::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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    int frameRows = frames0[0].rows;
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    int frameRows = frames0[0].rows;