rgbd_keyframe.h

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#ifndef RGBDTOOLS_RGBD_KEYFRAME_H
#define RGBDTOOLS_RGBD_KEYFRAME_H

#include <boost/filesystem.hpp>

#include "rgbdtools/rgbd_frame.h"

namespace rgbdtools {

class RGBDKeyframe: public RGBDFrame
{
  public:
   
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    RGBDKeyframe();
  
    RGBDKeyframe(const RGBDFrame& frame);
     
    Pose pose; 
    
    bool manually_added; 

    double path_length_linear; 
    
    double path_length_angular;
   
    static bool save(const RGBDKeyframe& keyframe, 
                     const std::string& path);
    
    static bool load(RGBDKeyframe& keyframe, 
                     const std::string& path);
};

typedef Eigen::aligned_allocator<RGBDKeyframe> KeyframeAllocator;
typedef std::vector<RGBDKeyframe, KeyframeAllocator> KeyframeVector;

bool saveKeyframes(const KeyframeVector& keyframes, 
                   const std::string& path);

bool loadKeyframes(KeyframeVector& keyframes, 
                   const std::string& path);

} // namespace rgbdtools

#endif // RGBDTOOLS_RGBD_KEYFRAME_H