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        std::cout << std::endl;
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        std::cout << std::endl;
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    }
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    }
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std::cout << "Rr: " << cal.Rr << std::endl;
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std::cout << "Rr: " << cal.Rr << std::endl;
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std::cout << "Tr: " << cal.Tr << std::endl;
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std::cout << "Tr: " << cal.Tr << std::endl;
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    //* Using rotation axis calibration *//
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//    //* Using rotation axis calibration *//
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    // full camera matrices
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//    // full camera matrices
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    cv::Matx34f P0 = cv::Matx34f::eye();
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//    cv::Matx34f P0 = cal.K0*cv::Matx34f::eye();
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    cv::Mat RT1(3, 4, CV_32F);
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//    cv::Mat RT1(3, 4, CV_32F);
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    cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));
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//    cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));
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    cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));
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//    cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));
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    cv::Matx34f P1 = cv::Matx34f(RT1);
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//    cv::Matx34f P1 = cal.K1*cv::Matx34f(RT1);
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    // calibration points in camera 0 frame
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//    // calibration points in camera 0 frame
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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(int i=0; i<nValidSets; i++){
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//    for(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(qc0[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(qc1[i], qc1i, cal.K1, cal.k1);
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//        qc0i = qc0[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);
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        cvtools::convertMatFromHomogeneous(Qhom, Qcami);
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//        cvtools::convertMatFromHomogeneous(Qhom, Qcami);
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        std::vector<cv::Point3f> QcamiPoints;
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//        std::vector<cv::Point3f> QcamiPoints;
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        cvtools::matToPoints3f(Qcami, QcamiPoints);
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//        cvtools::matToPoints3f(Qcami, QcamiPoints);
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- 
 
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//        Qcam.push_back(QcamiPoints);
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//    }
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//    cv::Vec3f axis, point;
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//    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);
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- 
 
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//    // construct transformation matrix
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//    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,-1.0));
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//    cv::Vec3f ez = ex.cross(axis);
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//    cv::Mat RrMat(3, 3, CV_32F);
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//    cv::Mat(ex).copyTo(RrMat.col(0));
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//    cv::Mat(axis).copyTo(RrMat.col(1));
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//    cv::Mat(ez).copyTo(RrMat.col(2));
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        Qcam.push_back(QcamiPoints);
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    }
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    cv::Vec3f axis, point;
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    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);
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    // construct transformation matrix
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    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));
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    cv::Vec3f ez = axis.cross(ex);
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    cv::Mat RrMat(3, 3, CV_32F);
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    cv::Mat(ex).copyTo(RrMat.col(0));
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    cv::Mat(axis).copyTo(RrMat.col(1));
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    cv::Mat(ez).copyTo(RrMat.col(2));
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    cal.Rr = cv::Mat(RrMat.t());
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//    cal.Rr = cv::Mat(RrMat.t());
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    cal.Tr = -point;
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//    cal.Tr = point;
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    // Print to std::cout
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    // Print to std::cout
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    cal.print();
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    cal.print();
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    // save to (reentrant qsettings object)
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    // save to (reentrant qsettings object)