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I read about RTAB package which builds 3D point clouds based on optical odometry. This fulfills my requirement, which will be clear by the end. The issue is, I don't have a Kinect camera. What I have is a constant stream of 2D depth Map which looks very much like that of Kinect, and reference RGB image, which is kinda obviously needed.

How can I use ROS RTAB package to use these 'streams' of depth maps and reference RGB images, which are coming off of a Python script, instead of some device connected like Kinect?

P.S. I'm a rookie in ROS. Any explanation is appreciated.

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