Wheel odometry integration in standalone rtabmap

[StefanoMutti]

Is it possible to integrate wheel odometry in the standalone RTABMap?
thanks

[matlabbe]

Depending on the camera you have, you could modify the camera class to pool your wheel odometry and set odomPose and odomCovariance parameters of the published CameraEvent. Make sure the camera class returns true for inherited odomProvided() function.