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Fixed rgbd_cameras=0 when rtabmap is not built with multi rgbd callbacks #1046

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This commit is contained in:
matlabbe
2023-10-14 12:59:32 -07:00
parent 68066b7e9a
commit 61bd84bcd6
1 changed files with 15 additions and 15 deletions
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rtabmap_sync/src/CommonDataSubscriber.cpp
+15 -15
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@@ -518,22 +518,8 @@ void CommonDataSubscriber::setupCallbacks(
}
else if(subscribedToRGBD_)
{
if(rgbdCameras == 0)
{
setupRGBDXCallbacks(
nh,
pnh,
subscribedToOdom_,
subscribeUserData,
subscribeScan2d,
subscribeScan3d,
subscribeScanDesc,
subscribeOdomInfo,
queueSize_,
approxSync_);
}
#ifdef RTABMAP_SYNC_MULTI_RGBD
else if(rgbdCameras >= 6)
if(rgbdCameras >= 6)
{
if(rgbdCameras > 6)
{
@@ -619,6 +605,20 @@ void CommonDataSubscriber::setupCallbacks(
"but you will have to synchronize RGBDImage topics yourself.");
}
#endif
else if(rgbdCameras == 0)
{
setupRGBDXCallbacks(
nh,
pnh,
subscribedToOdom_,
subscribeUserData,
subscribeScan2d,
subscribeScan3d,
subscribeScanDesc,
subscribeOdomInfo,
queueSize_,
approxSync_);
}
else
{
setupRGBDCallbacks(