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RMonica / elastic_bridge

ROS wrapper for ElasticFusion
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Downloaded GUID is all zero #4

Closed xiaodongww closed 2 years ago

xiaodongww commented 2 years ago

Hi, thanks for your job. I have compiled your program successfully and the reconstruction program works well.

However, I find that when I run ./save_pcl, the saved guid file is all zeros (i.e. values in pointcloud.corresp). I double-checked that I was using the patched ElasticFusion version.

So, I read the code in patches/guid.patch. Since I am not familiar with OpenGL and can not find how the guid system works. The counter atomicGuidBuffer does not seems to explicit call functions like increment or decrement. So how does it count the number of surfels? Is this the reason that guid is all zeros?

Thanks for your reading. Looking forward to your reply!

RMonica commented 2 years ago

Hi. I think you are right. Something is missing in that patch: there should be changes in the shaders which increment and decrement the counters. I will try to recover the code, but I don't have much hope. Sorry.

RMonica commented 2 years ago

I had to rewrite some code from scratch, but now it should work.

xiaodongww commented 2 years ago

Thanks for your help. It really works!