camera.h

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#pragma once
 
#include "common_include.h"
#include "config.h"
 
NAMESPACE_BEGIN
 
class Camera {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    typedef std::shared_ptr<Camera> Ptr;
 
    Camera(const double &baseline, const Mat3d &K)
        : m_baseline(baseline)
        , m_K(K) {
        Vec3d t(-baseline, 0, 0);
        m_poses.push_back(SE3d());
        m_poses.push_back(SE3d(SO3d(), t));
    }
 
public:
    double m_baseline;         
    Mat3d m_K;                 
    std::vector<SE3d> m_poses; 
};
 
NAMESPACE_END