Re: How to add keyframe when RTABMap is built?

Posted by phke on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-add-keyframe-when-RTABMap-is-built-tp506p4971.html

Thank you for the reply. But where in the source code is the decision made, which image of the incoming image topic stream is considered. If I got it right, in CodeWrapper::defaultCallback() the method only starts to do something if
ros::Time::now() - time_ == ros::Duration(1.0f/rate_). Where can I find a similar condition in the case that an RGBD-Camera is connected?

Thank you very much,
Philipp