Where the topic subscription is done in dvs_mapping?

[thebox-ujt]

Hello.
I'm currently trying to run the EVO sample program, but the screen in the lower left corner of RVIZ: "Sparse depthmap" does not show anything, so I'm investigating the source code to see if there is something wrong with dvs_mapping.

The main function written in

RPG_COMMON_MAIN {
ros::init(argc, argv, "dvs_mapping");
ros::NodeHandle nh;
ros::NodeHandle pnh("~");

// Load camera calibration
image_geometry::PinholeCameraModel cam =
    evo_utils::camera::loadPinholeCamera(nh);



depth_from_defocus::DepthFromDefocusNode depth_defocus_node(nh, pnh, cam);



ros::spin();



return 0;

}

I couldn't find the subscribe() function in the above, so I was wondering if you could advise me where the topic subscription is done in dvs_mapping?

Thank you in advance for your help.