Develop sensor driver for OpenCV OAK-D to standalone RTAB-Map

Posted by knoname on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Develop-sensor-driver-for-OpenCV-OAK-D-to-standalone-RTAB-Map-tp7426.html

Hi Matlabbe,
I'm interested in developing a camera driver for RTAB-Map (standalone) to interface to the OpenCV OAK-D camera.  The OAK-D has a proprietary interface but is open-source.  It has multiple features -- my intent is to start with something simple.  

If you haven't heard of the OAK-D, here is a link:  https://store.opencv.ai/products/oak-d

Today I can read the left & right cameras and the internally computed depth map in OpenCV (c/c++).  Even though the left and right cameras are technically monochrome, I could easily make an RGBD image from one of them and feed it to RTAB-Map.  

I've been looking in the cameras directory but most of the RGBD cameras have their own proprietary interfaces.  Do you have any suggestions of key places to look inside RTAB-Map or a good example I could modify?

I appreciate any help!

Thanks,
Bob.