Running Live - RGB-D Camera

[FraDePace]

Hi! Thanks for your amazing project!

Does it support running live with RGB-D cameras?
Alternatively, can it be adapted to support it?

Thanks

[goldoak]

The system can certainly be adapted to support RGB-D cameras. To create a new reader for customized datasets or live stream sensor data, simply inherit from the Reader class located in app/include/reader_base.hpp. For examples, you can refer to ReplicaReader in app/include/reader_replica.hpp and ScanNetppReader in app/include/reader_scannetpp.hpp, which illustrate two readers designed for the Replica dataset and the ScanNet++ dataset, respectively.