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        cv::Vec<float, 5> k1;
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        cv::Vec<float, 5> k1;
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        double cam1_error;
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        double cam1_error;
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        double stereo_error; // stereo calibration reprojection error
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        double stereo_error; // stereo calibration reprojection error
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        cv::Matx33f R1; // extrinsic rotation matrix
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        cv::Matx33f R1; // extrinsic rotation matrix camera 1
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        cv::Vec3f   T1; // extrinsic translation vector
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        cv::Vec3f   T1; // extrinsic translation vector camera 1
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        cv::Matx33f Rr; // extrinsic rotation rotation stage
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        cv::Vec3f   Tr; // extrinsic translation vector rotation stage
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        cv::Matx33f E; // essential matrix
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        cv::Matx33f F; // fundamental matrix
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        void print();
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        void print();
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};
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};
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);
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QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);