Could SVIn2 enable depth sensor or not?

[YuanboXue]

Hi,

Your open source work is greatly appreciated. I am also motivated by your valuable work focusing on underwater slam. As you mentioned in your papers, the depth sensor is utilized which provides an absolute measurement of depth.

In terms of the depth sensor, to the best knowledge I have, the variable in config_stereorig_v2.yaml named 'isDepthUsed' is set to be 'false'. And the loop closure would fail when manually setting it to be 'true'.

In order to better understand SVIn and accumulate experience of underwater localization, would you mind sharing some suggestions on how to fuse the depth sensor and enable the depth sensor?

Appreciate your help and support! Again, thanks for providing such impressive and important contributions to the field of underwater localization and mapping.