ZED stereo camera with TX2 for non-GPS

We are doing a project in which we need to take the data from ZED camera and feed to pixhawk for non-navigation to fly-indoor.

Our structure is as follows
Flight Controller => Pixhawk
Companion computer=>Nvidia Tx2
Camera=>zed camera

The document ( https://ardupilot.org/copter/docs/common-zed.html ) indicates we need to build OpenKai. But OpenKai is just for TX1 and our companion computer is TX2. So is there a software can replace OpenKai to communicate with ZED?

If someone can answer, it would be very grateful.