Stereo-VIO with RealSense D555

[subbubhat99]

Hey folks!

Thank you so much for creating this amazing SLAM algorithm and legibly explaining steps to get started with it.

Having upgraded the stereo depth camera on our AMR to the latest model in the D500 series, i.e. the D555, I was wondering what changes would be needed with some of the global variables defined for the IMU in the script run_vio.py?

The instructions given here are for D435i : https://github.com/NVlabs/PyCuVSLAM/blob/main/examples/realsense/README.md#running-stereo-inertial-odometry.

Would love to hear from you guys regarding the same.

Also let me know if running real-time VIO with the D555 is still preferred with the C++ ROS2 node instead of this one.

Kind regards,

Subramanya

[zwdoescode]

@subbubhat99 We haven't tested PyCuVSLAM with D555 yet so we are not sure what values should be used and if there should be any other changes.
Do you mind testing it out and see if you have any issues?