parameter_stereo_camera.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_STEREO_CAMERA_PARAMETERS_H_
#define G2O_STEREO_CAMERA_PARAMETERS_H_
 
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_slam3d_api.h"
#include "parameter_camera.h"
 
namespace g2o {
class G2O_TYPES_SLAM3D_API ParameterStereoCamera : public ParameterCamera {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  ParameterStereoCamera();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  void setBaseline(double baseline_) { _baseline = baseline_; }
  double baseline() const { return _baseline; }
 
 protected:
  double _baseline;
};
}  // namespace g2o
 
#endif