Run on real-time stream

[jimakos96]

Hello
I want to run vins fusion on two stereo camera streams of a drone ,my idea is to have a python script where I will take the camera frames and publish them to specific ros_topics ,which I will have set on the yaml configuration for vins .So is this scenario possible or the only way is to use a .bag file like in the examples?
And do I have to calibrate my cameras in order to find the correct values for the yaml configuration?