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HKUST-Aerial-Robotics / DenseSurfelMapping

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"

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problem when running on the ICL-NUIM dataset

louzq16 opened this issue · comments

commented

Thank for your nice work!
I would like to reproduce the result on ICL-NUIM dataset of DSM in the paper.
I choose sequence living_room_traj0n_frei as test sequence. ORB-SLAM2 works well in RGBD mode, but surfel_fusion died.
the launch file is as follows:
image
After tracking the errors, I found that the position where the problem occured:
image
When fusing surfels, the variable sp_index sometimes is -1 which is out of range.
I'd like to know whether if it is normal that the superpixel index is -1 after superpixel segmentation in DSM. Or there exists some errors in my parameter setting?