Added RGBD interface

[lfrschkn]

changes

• adds rgbd interface

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comments:

• follows this
• Tested on 16.04+Kinetic and 14.04+Jade
• did not perform extensive tests, just checked if orbslam2 gets image streams and produces estimates, quality and properness of estimates not tested.

[JiaruiWang-Jill]

Hi, @lfrschkn

Sorry to bother, but as for the interface_rgbd.cpp in the last "view off"version, there are three lines as follow.

publishGBArunning(slam_system_->IsRunningGBA()); publishLoopClosing(slam_system_->IsRunningLoopClosing()); publishEssentialGraphOptimization(slam_system_->IsRunningEssentialGraphOptimization());

I guess this suggests we need to modify system.h and system.cc. But how to modify it when these two files are build from orb_slam2_catkin version? Directly modify the two files in catkin_ws/build and catkin_ws/devel? Besides, what code should we add in these three functions in system.cc?

Thanks in advance!