text: #include "base_camera_info.h"
  
  namespace fps_mapper {
  
    using namespace std;
  
    BaseCameraInfo::BaseCameraInfo(const std::string& topic_,
  				 const std::string& frame_id,
  				 const Eigen::Isometry3f&offset_,
  				 float depth_scale_,
  				 int id,
  				 boss::IdContext* context):   boss::Identifiable(id,context){
      _offset = offset_;
      _topic = topic_;
      _frame_id = frame_id;
      _depth_scale = depth_scale_;
    }
  
  
    BaseCameraInfo* BaseCameraInfo::scale(float ) { return 0; }
  
    void BaseCameraInfo::serialize(boss::ObjectData& data, boss::IdContext& context){
      Identifiable::serialize(data,context);
      data.setString("topic",_topic);
      data.setFloat("depth_scale",_depth_scale);
      t2v(_offset).toBOSS(data, "offset");
    }
  
    void BaseCameraInfo::deserialize(boss::ObjectData& data, boss::IdContext& context){
      Identifiable::deserialize(data,context);
      _topic = data.getString("topic");
      _depth_scale = data.getFloat("depth_scale");
      Vector6f v;
      v.fromBOSS(data, "offset");
      _offset = v2t(v);
    }
  
    BOSS_REGISTER_CLASS(BaseCameraInfo);
  
  }
  
  
  