Regarding adding a new odom source and using RGB-D camera

[ArghyaChatterjee]

Hello,

Thanks for your work. I was going through the input to Graph-MSF. I see that I can give these as inputs:

• IMU measurements,
• LiDAR odometry from CompSLAM,
• Left and Right GNSS measurements,
• and an (arm-)filtered point cloud.

Is it possible to give something like these as input:

• IMU Measurements
• Visual Odometry
• Robot Odometry
• Filtered Point Cloud from an RGB-D camera

Thanks in Advance.