Re: About CommonDataSubscriberRGBD code research

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-CommonDataSubscriberRGBD-code-research-tp7127p7152.html


There are multiple ways to subscribe to image topic. When subscribe_rgb and subscribe_depth are true, you can do "rosnode info rtabmap" or rqt_graph to see which image topic it is subscribed to.

The features are extracted using one of the Features2D classes: https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/Features2d.h

More precisely, when creating the signature: https://github.com/introlab/rtabmap/blob/7be22d1b67c6a1f95e61cff0b66b9ef178d2c7ff/corelib/src/Memory.cpp#L4370-L4372