bool loadKeyframes( KeyframeVector& keyframes, const std::string& path) { keyframes.clear(); int kf_idx = 0; while(true) { std::stringstream ss_idx; ss_idx << std::setw(4) << std::setfill('0') << kf_idx; std::string path_kf = path + "/" + ss_idx.str(); if (boost::filesystem::exists(path_kf)) { ROS_INFO("Loading %s", path_kf.c_str()); RGBDKeyframe keyframe; bool result_load = RGBDKeyframe::load(keyframe, path_kf); if (result_load) keyframes.push_back(keyframe); else { ROS_WARN("Error loading"); return false; } } else return true; kf_idx++; } }