The surfel fusion can not work when I use realsense D435
HeartFreeNo1 opened this issue · comments
HeartFreeNo1 commented
I changed the camera parameters and topic name to realsense in kitti_orb.launch. What I changed are as follows:
<launch>
<node pkg="surfel_fusion" type="surfel_fusion" name="surfel_fusion" clear_params="true" output="screen">
<!-- camera parameter -->
<param name="cam_width" value="640" />
<param name="cam_height" value="480" />
<!--input image info-->
<param name="cam_fx" value="614.4114379882812" />
<param name="cam_cx" value="324.2138671875" />
<param name="cam_fy" value="614.7125244140625" />
<param name="cam_cy" value="236.86329650878906" />
<!-- fusion parameter, all in meter -->
<param name="fuse_far_distence" value="30.0" />
<param name="fuse_near_distence" value="0.5" />
<!-- for deform the map -->
<param name="drift_free_poses" value="30" />
<!-- for data save -->
<!-- <param name="save_name" value="/home/wangxinxin/bag/surfel_fusion/results/rgbd/realsense_loop" /> -->
<remap from="~image" to="/camera/color/image_raw" />
<remap from="~depth" to="/camera/depth/image_rect_raw" />
<remap from="~loop_path" to="/orb_slam/path" />
<remap from="~this_pose" to="/orb_slam/pose" />
<remap from="~loop_stamps" to="/orb_slam/loop" />
</node>
</launch>
But surfel fusion can not work as follow:
When I use kitti which you used, it will be ok. Such as follow:
I don't kown why the phenomenon will occure, can you help me?
WANG KAIXUAN commented
have you check the time stamp between pose, depth, and image messages? They should be well synchronized.