Updated README with examples of usage of the MIT stata center dataset based on jfr2018 paper. #1350

rtabmap_odom/src/OdometryROS.cpp

@@ -487,7 +487,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
 	{
 		double estimatedPeriod = clockNow - lastReceivedTopicClock_;
 		double topicPeriod = header.stamp.toSec() - lastReceivedTopicStamp_;
-		if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.9) {
+		if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.5) {
 			NODELET_WARN("Dropping image/scan data with stamp %f (delay=%f). Something is wrong "
 				"because the clock difference with the previous topic received (%fs) is much lower than the "
 				"expected one (%fs) estimated from the topic stamps (previous stamp=%f). If you are processing "

rtabmap_odom/src/nodelets/rgbd_odometry.cpp

@@ -76,7 +76,8 @@ public:
 		exactSync6_(0),
 		topicQueueSize_(1),
 		syncQueueSize_(5),
-		keepColor_(false)
+		keepColor_(false),
+		approxSyncMaxInterval_(0.0)
 	{
 	}
 
@@ -108,9 +109,8 @@ private:
 		int rgbdCameras = 1;
 		bool approxSync = true;
 		bool subscribeRGBD = false;
-		double approxSyncMaxInterval = 0.0;
 		pnh.param("approx_sync", approxSync, approxSync);
-		pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
+		pnh.param("approx_sync_max_interval", approxSyncMaxInterval_, approxSyncMaxInterval_);
 		pnh.param("topic_queue_size", topicQueueSize_, topicQueueSize_);
 		if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
 		{
@@ -138,7 +138,7 @@ private:
 
 		NODELET_INFO("RGBDOdometry: approx_sync    = %s", approxSync?"true":"false");
 		if(approxSync)
-			NODELET_INFO("RGBDOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval);
+			NODELET_INFO("RGBDOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval_);
 		NODELET_INFO("RGBDOdometry: topic_queue_size = %d", topicQueueSize_);
 		NODELET_INFO("RGBDOdometry: sync_queue_size  = %d", syncQueueSize_);
 		NODELET_INFO("RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
@@ -178,8 +178,8 @@ private:
 								MyApproxSync2Policy(syncQueueSize_),
 								rgbd_image1_sub_,
 								rgbd_image2_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync2_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
 					}
 					else
@@ -193,7 +193,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str());
 				}
@@ -206,8 +206,8 @@ private:
 								rgbd_image1_sub_,
 								rgbd_image2_sub_,
 								rgbd_image3_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync3_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 					}
 					else
@@ -222,7 +222,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str());
@@ -237,8 +237,8 @@ private:
 								rgbd_image2_sub_,
 								rgbd_image3_sub_,
 								rgbd_image4_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync4_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 					}
 					else
@@ -254,7 +254,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -271,8 +271,8 @@ private:
 								rgbd_image3_sub_,
 								rgbd_image4_sub_,
                                 rgbd_image5_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync5_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
 					}
 					else
@@ -289,7 +289,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n  %s \\\n  %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -308,8 +308,8 @@ private:
 								rgbd_image4_sub_,
 								rgbd_image5_sub_,
 								rgbd_image6_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync6_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync6_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync6_->registerCallback(boost::bind(&RGBDOdometry::callbackRGBD6, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6));
 					}
 					else
@@ -327,7 +327,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n  %s \\\n  %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -382,8 +382,8 @@ private:
 			if(approxSync)
 			{
 				approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_);
-				if(approxSyncMaxInterval > 0.0)
-					approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+				if(approxSyncMaxInterval_ > 0.0)
+					approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 				approxSync_->registerCallback(boost::bind(&RGBDOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 			}
 			else
@@ -396,7 +396,7 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+					approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 					image_mono_sub_.getTopic().c_str(),
 					image_depth_sub_.getTopic().c_str(),
 					info_sub_.getTopic().c_str());
@@ -593,7 +593,7 @@ private:
 			infoMsgs.push_back(*cameraInfo);
 
 			double stampDiff = fabs(image->header.stamp.toSec() - depth->header.stamp.toSec());
-			if(stampDiff > 0.020)
+			if(approxSyncMaxInterval_==0.0 && stampDiff > 0.020)
 			{
 				NODELET_WARN("The time difference between rgb and depth frames is "
 						"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
@@ -934,6 +934,7 @@ private:
 	int topicQueueSize_;
 	int syncQueueSize_;
 	bool keepColor_;
+	double approxSyncMaxInterval_;
 };
 
 PLUGINLIB_EXPORT_CLASS(rtabmap_odom::RGBDOdometry, nodelet::Nodelet);

rtabmap_odom/src/nodelets/rgbdicp_odometry.cpp

@@ -75,6 +75,7 @@ public:
 		queueSize_(1),
 		syncQueueSize_(5),
 		keepColor_(false),
+		approxSyncMaxInterval_(0.0),
 		scanCloudMaxPoints_(0),
 		scanVoxelSize_(0.0),
 		scanNormalK_(0),
@@ -111,9 +112,8 @@ private:
 
 		bool approxSync = true;
 		bool subscribeScanCloud = false;
-		double approxSyncMaxInterval = 0.0;
 		pnh.param("approx_sync", approxSync, approxSync);
-		pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
+		pnh.param("approx_sync_max_interval", approxSyncMaxInterval_, approxSyncMaxInterval_);
 		pnh.param("topic_queue_size", queueSize_, queueSize_);
 		if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
 		{
@@ -142,7 +142,7 @@ private:
 
 		NODELET_INFO("RGBDIcpOdometry: approx_sync           = %s", approxSync?"true":"false");
 		if(approxSync)
-			NODELET_INFO("RGBDIcpOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval);
+			NODELET_INFO("RGBDIcpOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval_);
 		NODELET_INFO("RGBDIcpOdometry: topic_queue_size      = %d", queueSize_);
 		NODELET_INFO("RGBDIcpOdometry: sync_queue_size       = %d", syncQueueSize_);
 		NODELET_INFO("RGBDIcpOdometry: subscribe_scan_cloud  = %s", subscribeScanCloud?"true":"false");
@@ -172,8 +172,8 @@ private:
 			if(approxSync)
 			{
 				approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
-				if(approxSyncMaxInterval > 0.0)
-					approxCloudSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+				if(approxSyncMaxInterval_ > 0.0)
+					approxCloudSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 				approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 			}
 			else
@@ -185,7 +185,7 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s, \n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+					approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 					image_mono_sub_.getTopic().c_str(),
 					image_depth_sub_.getTopic().c_str(),
 					info_sub_.getTopic().c_str(),
@@ -197,8 +197,8 @@ private:
 			if(approxSync)
 			{
 				approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(syncQueueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
-				if(approxSyncMaxInterval > 0.0)
-					approxScanSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+				if(approxSyncMaxInterval_ > 0.0)
+					approxScanSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 				approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 			}
 			else
@@ -210,7 +210,7 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+					approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 					image_mono_sub_.getTopic().c_str(),
 					image_depth_sub_.getTopic().c_str(),
 					info_sub_.getTopic().c_str(),
@@ -301,7 +301,7 @@ private:
 			}
 
 			double stampDiff = fabs(image->header.stamp.toSec() - depth->header.stamp.toSec());
-			if(stampDiff > 0.010)
+			if(approxSyncMaxInterval_==0.0 && stampDiff > 0.010)
 			{
 				NODELET_WARN("The time difference between rgb and depth frames is "
 						"high (diff=%fs, rgb=%fs, depth=%fs). You may want "
@@ -518,6 +518,7 @@ private:
 	double scanVoxelSize_;
 	int scanNormalK_;
 	double scanNormalRadius_;
+	double approxSyncMaxInterval_;
 };
 
 PLUGINLIB_EXPORT_CLASS(rtabmap_odom::RGBDICPOdometry, nodelet::Nodelet);

rtabmap_odom/src/nodelets/stereo_odometry.cpp

@@ -76,7 +76,8 @@ public:
 		exactSync6_(0),
 		topicQueueSize_(1),
 		syncQueueSize_(5),
-		keepColor_(false)
+		keepColor_(false),
+		approxSyncMaxInterval_(0.0)
 	{
 	}
 
@@ -106,10 +107,9 @@ private:
 
 		bool approxSync = false;
 		bool subscribeRGBD = false;
-		double approxSyncMaxInterval = 0.0;
 		int rgbdCameras = 1;
 		pnh.param("approx_sync", approxSync, approxSync);
-		pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
+		pnh.param("approx_sync_max_interval", approxSyncMaxInterval_, approxSyncMaxInterval_);
 		pnh.param("topic_queue_size", topicQueueSize_, topicQueueSize_);
 		if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
 		{
@@ -129,7 +129,7 @@ private:
 
 		NODELET_INFO("StereoOdometry: approx_sync = %s", approxSync?"true":"false");
 		if(approxSync)
-			NODELET_INFO("StereoOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval);
+			NODELET_INFO("StereoOdometry: approx_sync_max_interval = %f", approxSyncMaxInterval_);
 		NODELET_INFO("StereoOdometry: topic_queue_size = %d", topicQueueSize_);
 		NODELET_INFO("StereoOdometry: sync_queue_size = %d", syncQueueSize_);
 		NODELET_INFO("StereoOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
@@ -168,8 +168,8 @@ private:
 								MyApproxSync2Policy(syncQueueSize_),
 								rgbd_image1_sub_,
 								rgbd_image2_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync2_->registerCallback(boost::bind(&StereoOdometry::callbackRGBD2, this, boost::placeholders::_1, boost::placeholders::_2));
 					}
 					else
@@ -183,7 +183,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str());
 				}
@@ -196,8 +196,8 @@ private:
 								rgbd_image1_sub_,
 								rgbd_image2_sub_,
 								rgbd_image3_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync3_->registerCallback(boost::bind(&StereoOdometry::callbackRGBD3, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 					}
 					else
@@ -212,7 +212,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str());
@@ -227,8 +227,8 @@ private:
 								rgbd_image2_sub_,
 								rgbd_image3_sub_,
 								rgbd_image4_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync4_->registerCallback(boost::bind(&StereoOdometry::callbackRGBD4, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 					}
 					else
@@ -244,7 +244,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -261,8 +261,8 @@ private:
 								rgbd_image3_sub_,
 								rgbd_image4_sub_,
 								rgbd_image5_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync5_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync5_->registerCallback(boost::bind(&StereoOdometry::callbackRGBD5, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5));
 					}
 					else
@@ -279,7 +279,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -298,8 +298,8 @@ private:
 								rgbd_image4_sub_,
 								rgbd_image5_sub_,
 								rgbd_image6_sub_);
-						if(approxSyncMaxInterval > 0.0)
-							approxSync6_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+						if(approxSyncMaxInterval_ > 0.0)
+							approxSync6_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 						approxSync6_->registerCallback(boost::bind(&StereoOdometry::callbackRGBD6, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6));
 					}
 					else
@@ -317,7 +317,7 @@ private:
 					subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s \\\n   %s",
 							getName().c_str(),
 							approxSync?"approx":"exact",
-							approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+							approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 							rgbd_image1_sub_.getTopic().c_str(),
 							rgbd_image2_sub_.getTopic().c_str(),
 							rgbd_image3_sub_.getTopic().c_str(),
@@ -373,8 +373,8 @@ private:
 			if(approxSync)
 			{
 				approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(syncQueueSize_), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
-				if(approxSyncMaxInterval>0.0)
-					approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
+				if(approxSyncMaxInterval_>0.0)
+					approxSync_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval_));
 				approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 			}
 			else
@@ -387,7 +387,7 @@ private:
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s \\\n   %s \\\n   %s \\\n   %s",
 					getName().c_str(),
 					approxSync?"approx":"exact",
-					approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
+					approxSync&&approxSyncMaxInterval_!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval_).c_str():"",
 					imageRectLeft_.getTopic().c_str(),
 					imageRectRight_.getTopic().c_str(),
 					cameraInfoLeft_.getTopic().c_str(),
@@ -702,7 +702,7 @@ private:
 			rightInfoMsgs.push_back(*cameraInfoRight);
 
 			double stampDiff = fabs(imageLeft->header.stamp.toSec() - imageRight->header.stamp.toSec());
-			if(stampDiff > 0.010)
+			if(approxSyncMaxInterval_ == 0.0 && stampDiff > 0.010)
 			{
 				NODELET_WARN("The time difference between left and right frames is "
 						"high (diff=%fs, left=%fs, right=%fs). If your left and right cameras are hardware "
@@ -1075,6 +1075,7 @@ private:
 	int topicQueueSize_;
 	int syncQueueSize_;
 	bool keepColor_;
+	double approxSyncMaxInterval_;
 };
 
 PLUGINLIB_EXPORT_CLASS(rtabmap_odom::StereoOdometry, nodelet::Nodelet);