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        // Camera 0
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        // Camera 0
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        std::vector<cv::Point2f> qci0;
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        std::vector<cv::Point2f> qci0;
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        // Extract checker corners
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        // Extract checker corners
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        bool success0 = cv::findChessboardCorners(SMCalibrationSetI.frame0, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        bool success0 = cv::findChessboardCorners(SMCalibrationSetI.frame0, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        if(success0){
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        if(success0){
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            // Convert bayer to grayscale
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            cv::Mat gray;
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            cv::Mat gray;
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            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
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            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
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            cv::cvtColor(gray, gray, CV_RGB2GRAY);
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            cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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            cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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            // Draw colored chessboard
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            // Draw colored chessboard
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            SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();
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            SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();
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            cvtools::drawChessboardCorners(SMCalibrationSetI.frame0Result, checkerCount, qci0, success0, 10);
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            cvtools::drawChessboardCorners(SMCalibrationSetI.frame0Result, checkerCount, qci0, success0, 10);
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        }
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        }
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        // Camera 1
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        // Camera 1
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        std::vector<cv::Point2f> qci1;
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        std::vector<cv::Point2f> qci1;
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        // Extract checker corners
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        // Extract checker corners
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        bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        if(success1){
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        if(success1){
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            // Convert bayer to grayscale
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            cv::Mat gray;
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            cv::Mat gray;
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            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
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            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
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            cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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            cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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            // Draw colored chessboard
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            // Draw colored chessboard
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            SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();
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            SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();
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            cvtools::drawChessboardCorners(SMCalibrationSetI.frame1Result, checkerCount, qci1, success1, 10);
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            cvtools::drawChessboardCorners(SMCalibrationSetI.frame1Result, checkerCount, qci1, success1, 10);
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        }
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        }