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    std::cout << cam1_error << std::endl;
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    std::cout << cam1_error << std::endl;
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    std::cout << "stereo_error: " << std::endl;
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    std::cout << "stereo_error: " << std::endl;
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    std::cout << stereo_error << std::endl;
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    std::cout << stereo_error << std::endl;
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}
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}
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void SMCalibrationParameters::exportToXML(QString fileName){
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    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
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    if (!fs.isOpened())
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        std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;
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    fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error
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       << "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error
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       << "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error
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       << "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr)
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       << "E" << cv::Mat(E) << "F" << cv::Mat(F);
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    fs.release();
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}
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// QStreamtypes for qDebug() and QSettings
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// QStreamtypes for qDebug() and QSettings
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
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    std::cout << "Deserializing calibration parameters!" << std::endl;
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    std::cout << "Deserializing calibration parameters!" << std::endl;
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    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
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    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
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    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
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    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);