About CommonDataSubscriberRGBD code research

Posted by jasonlee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-CommonDataSubscriberRGBD-code-research-tp7127.html

Sorry,I was researching what code subscribe the image topic to run the rtabmap.
I found the CommonDataSubscriberRGBD set in "rtabmap_sync_lib_src" . Did it used to subscribe RGB topic ?

If not, how rtabmap_ros subscribe the image topic to run ?

I would like to find out what code extract feature points of image. I want to use yolov3 to detect object just like "DynaSLAM" purpose.  

Could you tell me where can I start to process?
Thanks~~