Custom Data Input to RTAB instead of Kinect data

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rtabmap_rosuses topics as input. Topics you need are a RGB image, a registered depth image and camera info of RGB image. See http://wiki.ros.org/rtabmap_ros/Tutor... for many examples using different cameras. You should be able to do the same with your python script, just make sure you republish the images in different topic names and adjust rgb_topic, depth_topic and camera_info_topic arguments of rtabmap.launch:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:="my/python/rgb/image/topic" depth_topic:="my/python/depth/image/topic" camera_info_topic:="my/python/rgb/camera_info/topic"

cheers,
Mathieu