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            continue;
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            continue;
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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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            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_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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        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
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        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
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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);
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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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            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_RGB2GRAY);
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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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    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_K3;
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    int flags = 0; //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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    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
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    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;