parameter_stereo_camera.cpp

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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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "parameter_stereo_camera.h"
 
#include "g2o/stuff/misc.h"
 
namespace g2o {
 
ParameterStereoCamera::ParameterStereoCamera()
    : ParameterCamera(), _baseline(cst(0.075)) {}
 
bool ParameterStereoCamera::read(std::istream& is) {
  bool state = ParameterCamera::read(is);
  is >> _baseline;
  return is.good() && state;
}
 
bool ParameterStereoCamera::write(std::ostream& os) const {
  bool state = ParameterCamera::write(os);
  os << baseline() << " ";
  return state && os.good();
}
 
}  // namespace g2o