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        cv::solvePnPRansac(Q[i], qc0[i], cal.K0, cal.k0, cam_rvecs0[i], cam_tvecs0[i], true, 100, 0.05, 100, cv::noArray(), CV_ITERATIVE);
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        cv::solvePnPRansac(Q[i], qc0[i], cal.K0, cal.k0, cam_rvecs0[i], cam_tvecs0[i], true, 100, 0.05, 100, cv::noArray(), CV_ITERATIVE);
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    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
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    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
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    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);
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    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);
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    // stereo calibration (fix K0, K1, k0, k1)
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    // stereo calibration
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    int flags_stereo = cv::CALIB_FIX_INTRINSIC;
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    int flags_stereo = cv::CALIB_USE_INTRINSIC_GUESS + cv::CALIB_FIX_K3;
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    cv::Mat E, F, R1, T1;
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    cv::Mat E, F, R1, T1;
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    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
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    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
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                                              frameSize, R1, T1, E, F,
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                                              frameSize, R1, T1, E, F,
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 50, DBL_EPSILON),
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 50, DBL_EPSILON),
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                                              flags_stereo);
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                                              flags_stereo);