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    cal.frameWidth = calibrationData[0].frame0.cols;
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    cal.frameWidth = calibrationData[0].frame0.cols;
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    cal.frameHeight = calibrationData[0].frame0.rows;
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    cal.frameHeight = calibrationData[0].frame0.rows;
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    cv::Size frameSize(cal.frameWidth, cal.frameHeight);
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    cv::Size frameSize(cal.frameWidth, cal.frameHeight);
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    // determine only k1, k2 for lens distortion
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    // determine only k1, k2 for lens distortion
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    int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_K3;
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    int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_K3;
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    // Note: several of the output arguments below must be cv::Mat, otherwise segfault
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    // Note: several of the output arguments below must be cv::Mat, otherwise segfault
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    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;
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    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;
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    cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags);
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    cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags);
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//    // refine extrinsics for camera 0
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//    // refine extrinsics for camera 0