StereoFrame::StereoFrame( const size_t id, const CameraPose& cameraPose, const CameraParameters& calibrationLeft, const double stereo_baseline, const CameraParameters& calibrationRight, const ImageFeatures& imageFeaturesLeft, const ImageFeatures& imageFeaturesRight, bool bFixed ) : frameLeft_(Camera(cameraPose, calibrationLeft), imageFeaturesLeft) , frameRight_(Camera(ComputeRightCameraPose(cameraPose, stereo_baseline), calibrationRight), imageFeaturesRight) , rectified_camera_parameters_({stereo_baseline, calibrationLeft.focalLengths(), calibrationLeft.principalPoint()}) , bFixed_( bFixed ), id_( id ) {}