How to analyse the source code?

Posted by sheenGeng on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-analyse-the-source-code-tp3193.html

Sir , i'm greenhand with rtabmap(and rtabmap_ros).

i want to test rtabmap with rgbd datasets from TUM. i want to know where the pose estimation was computed, but i can't find the calling code of Feature detection, Matching and so on . i wonder if  the pose information is offered by the rosbag (topic tf or odom?)?

the instructions i use are:

rosbag play --clock rgbd_dataset_freiburg1_floor.orig.bag
roslaunch rtabmap_ros rgbdslam_datasets.launch

thkU.