Is setting "rgbd_cameras" to 0 a "hidden" feature?

Posted by hagenoneill on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-setting-rgbd-cameras-to-0-a-hidden-feature-tp9595.html

Hello,

I recently discovered that setting "rgbd_cameras" to 0 causes rtabmap_slam and rtabmap_odom to subscribe to the "rgbd_images" topic where I can use the rtabmap_sync rgbdx_sync node to send a combined rgbd image.

However, when i try to look up documentation for this feature here this isn't mentioned.

I was wondering if anyone knew of any pros/cons of syncing multiple rgbd images this way instead of setting "rgbd_cameras" to 2 and feeding them into the topics "rgbd_image0", "rgbd_image1", etc.

Is there a reason it isn't documented? Is it identical under the hood?

Thanks!