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    public:
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    public:
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        SMCalibrationParameters() : frameHeight(0), frameWidth(0),
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        SMCalibrationParameters() : frameHeight(0), frameWidth(0),
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                                  K0(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k0(0.0), cam0_error(0.0),
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                                  K0(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k0(0.0), cam0_error(0.0),
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                                  K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),
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                                  K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),
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                                  R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0){
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                                  R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0),
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                                  Rr(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), Tr(0.0),
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                                  E(0.0), F(0.0){
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            qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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            qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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            qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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            qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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        }
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        }
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        cv::Matx33f K1;
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        cv::Matx33f K1;
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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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        cv::Matx33f R1; // extrinsic rotation matrix camera 1
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        cv::Matx33f R1; // extrinsic rotation matrix camera 1
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        cv::Vec3f   T1; // extrinsic translation vector camera 1
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        cv::Vec3f   T1; // extrinsic translation vector camera 1
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        double stereo_error; // stereo calibration reprojection error
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        cv::Matx33f Rr; // extrinsic rotation rotation stage
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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::Vec3f   Tr; // extrinsic translation vector rotation stage
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        cv::Matx33f E; // essential matrix
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        cv::Matx33f E; // essential matrix