Can I use ESANet with a Realsense-camera in real time with pre-trained models?

First of all, thank you very much for releasing an excellent research result.
I'm trying to do an indoor segmentation project using ESANet, but I can't find a way to use the camera directly on the source code.
By any chance, can you tell me how to connect the camera and do segmentation in real time on EASNet?
I would really appreciate your reply.