parameter_stereo_camera.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// 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 "parameter_camera.h"
#include "g2o_types_slam3d_api.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;
  };
};

#endif