Nice job with the previous version in performance, very impressive, I made work the VIO package in my Jeston NX without docker and out of official Jetpack, 20.04+Noetic.
I integrated it my SLAM setup,.and worked nicely in the test I did with a d435 as pasive stereo camera .
I couldn’t make work the NN part, I opened a github issue, maybe was fixed in this new version. I would love to try this new update but
sadly I needed sell my Xavier NX, but I saved a backup, hopefully in the future I will be able to one.
This is the drone I had planned for Elbrus, now it has a RPi4 and Orbslam
Thanks a lot by share this great job. It looked amazing for me, I hope can comeback over it some day.
I really think it is so good as you described.