Poor mapping results

[Sara-Esam]

Hello,

I am using the supersurfel_fusion for mapping, with a zed-mini camera dataset.

For that, I had to make some modifications in supersufel_fusion.cu, ferns.cu and TPS_RGBD.cu because of the (RGB to RGBA) and (RGB to GRAY) conversions.
(If there is already a unique way to handle this, please tell me about it)

After all, the problem is that I get very poor results, for instance, this map:

Which is supposed to be something like this:

Could it be due to poor parameter tuning? Please help me, how to get better results?

Thanks in advance!

[BruceCanovas]

Hello, could you please share tour dataset?

[Sara-Esam]

Thanks for the quick reply!

I am afraid that I have to get permission first since it belongs to a company.

But I have another (but smaller) dataset using the same camera which also produces poor results: (find the link below)

while it should look like this (plan view):

here's the link: https://drive.google.com/file/d/12RDvl_CIJ5Sp7gj4SJ8cZlnDEBBxzY8l/view?usp=sharing

[BruceCanovas]

Is it possible to have it in a rosbag format or as an image sequence please? I am not using the ZED SDK.

[Sara-Esam]

I don't have the image sequence, but I could convert it into a rosbag.

here's the link (https://drive.google.com/file/d/1Esdr9omV36d5xvqmLRwGRKe97LwPFTZ5/view?usp=sharing) Warning: it is too big as a rosbag

If you use this package (https://github.com/stereolabs/zed-ros-wrapper) it'd be faster from your side to convert rather than downloading it: 1- roslaunch zed_wrapper zedm.launch resolution:=1 frame_rate:=30 svo_file:=path/to/...svo 2- rosbag record -a or rosbag record /zedm/zed_node/rgb_raw/camera_info /zedm/zed_node/rgb_raw/image_raw_color /zedm/zed_node/depth/depth_registered /zedm/zed_node/rgb/camera_info /zedm/zed_node/rgb/image_rect_color