RGBD extension - guidance

[PetropoulakisPanagiotis]

Hi, First of all thank you for the implementation, and for being active and maintaining it.

I am participating in a research project and I am interested in using your code for an RGBD slam system.

Could you please provide any high-level guidance on how I can adapt your code and which components should change to add support for RGBD inputs? Suggesting the file names that I should focus on will be appreciated.

Certainly, if everything goes according to the plan, I would like to cite your work.

Thank you in advance.

Best, Panagiotis P.