Realsense support / Multi-sensory support

[hongsukchoi]

Is your feature request related to a problem? Please describe.

I'm interested in using GLIM with a Realsense depth camera (D435). I saw that GLIM supports various range-IMU sensors, but it's not clear whether D435 specifically is supported. Additionally, I'm curious if GLIM can handle both a Realsense (D435) and a LiDAR (e.g., MID360) simultaneously in a multi-sensor setup.

Describe the solution you'd like.

I'd like to know if GLIM currently supports:

Realsense D435 (depth camera)

Multi-sensor input: using both Realsense D435 and a LiDAR (MID360) together

If not currently supported, it would be great to have guidance or examples on how to extend the system to handle this configuration.

Describe alternatives you've considered.

I've looked into other SLAM frameworks (e.g., LIO-SAM, VoxelMap), but I prefer GLIM's GPU-accelerated and tightly coupled design. I would like to confirm compatibility before trying to integrate the Realsense and LiDAR setup.

Additional context.

If helpful, I can provide calibration between sensors and time-synced data. Also happy to help test or contribute if partial support exists.

[koide3]

I'd like to know if GLIM currently supports: Realsense D435 (depth camera)

It depends on if the sensor is equipped with an IMU. GLIM should work for any sensors that provide point clouds and IMU data. But, you should expect a degraded result for a stereo camera due to the point cloud distortion. I think some refinement methods like FoundationStereo may be a help.

Multi-sensor input: using both Realsense D435 and a LiDAR (MID360) together If not currently supported, it would be great to have guidance or examples on how to extend the system to handle this configuration.

No, multi-sensor input is not supported. I think merging the outputs of those sensors into one point cloud would be an easy way to do it.