fboris

How to test latency in C++ SDK? Is following snippet correct? ``` auto mono = device.getOutputQueue(ev)->get(); int64_t time_diff = duration_cast (mono->getTimestamp()- std::chrono::steady_clock::now()).count(); ```

I can confirm latency is 30ms under 1280X80@30fps(two ov9282)

Is it possible to use `rosrun dvo_slam camera_keyframe_tracker` via bag dataset?

Can it work on mono camera now? this PR(https://github.com/luxonis/depthai-core/pull/191) said SDK only support color camera at this moment.

@szabi-luxonis any comments?