WANG KAIXUAN

have you check the time stamp between pose, depth, and image messages? They should be well synchronized.

Hi, I am here for help. @PumpkinRun can you convert the depth maps into point clouds and show me? From the normal map, it seems quite noisy.

@Shame-fight The messages should be well synchronized. If you do not receive any messages please go to https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping/blob/77f65b1cfd3390ca50f1c94b1f0f250aeec2a00b/surfel_fusion/src/surfel_map.cpp#L83, https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping/blob/77f65b1cfd3390ca50f1c94b1f0f250aeec2a00b/surfel_fusion/src/surfel_map.cpp#L103, https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping/blob/77f65b1cfd3390ca50f1c94b1f0f250aeec2a00b/surfel_fusion/src/surfel_map.cpp#L93, and https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping/blob/77f65b1cfd3390ca50f1c94b1f0f250aeec2a00b/surfel_fusion/src/surfel_map.cpp#L205 for debugging. I do not know much about...

Hi, @PumpkinRun not sure what's on the ground. It does not seems right, right?

Hi, we also received similar suggestions from our coworker. It will be implemented in the future. The reason it does not support is that in our previous applications, we simply...

这个问题确实很奇怪, 我一时也不知道什么能导致这个问题. 请问你电脑配置是什么呢? 你有试过先跑vins, 录成rosbag再单独起 surfel__mapping 应该能排除 vins 的影响吧.

Hi, take a look at [this function](https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping/blob/a22aba45e86d629cfccdbb15152cc0608598880b/surfel_fusion/src/surfel_map.cpp#L185). This function synchronizes all necessary messages.

Sorry, cannot help you debug this error without more information.

Grayscale image should not be a problem. As the error tells you, there is no fused point cloud. Is the synchonizing correct? Can you print show log of the system...

they are ROS packages. Maybe you need to know how to use catkin_make in ROS catkin_ws.