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    std::vector< std::vector<cv::Point3f> > Qcam;
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    std::vector< std::vector<cv::Point3f> > Qcam;
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    for(unsigned int i=0; i<nValidSets; i++){
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    for(unsigned int i=0; i<nValidSets; i++){
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        std::vector<cv::Point2f> qc0i, qc1i;
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        std::vector<cv::Point2f> qc0i, qc1i;
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        cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);
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        cv::undistortPoints(qc0Stereo[i], qc0i, cal.K0, cal.k0);
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        cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);
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        cv::undistortPoints(qc1Stereo[i], qc1i, cal.K1, cal.k1);
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//        qc0i = qc0[i];
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//        qc0i = qc0[i];
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//        qc1i = qc1[i];
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//        qc1i = qc1[i];
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        cv::Mat Qhom, Qcami;
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        cv::Mat Qhom, Qcami;
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        cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);
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        cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);