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 )
{}
