Re: How to add keyframe when RTABMap is built?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-add-keyframe-when-RTABMap-is-built-tp506p4968.html

You can look for CoreWrapper::commonDepthCallbackImpl(), the depth image is transferred to a SensorData object just there.

But as I noted in the previous post, it can be easier to just create a node filtering the depth image before feeding it to rtabmap.

cheers,
Mathieu