the problem about using my own camera for reconstruction about densesurfelmapping HOT 4 OPEN

Hi,
take a look at this function. This function synchronizes all necessary messages.

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嗨，
看看这个功能。此功能同步所有必要的消息。

Hi, thank you for your reply. In the void SurfelMap::synchronize_msgs() function, you have performed the time stamp synchronization work, but I see that you have defined the typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud, nav_msgs::Path, nav_msgs earlier ::Odometry> exact_policy; But it is not used. I tried to synchronize the rgb image and the depth map in D435i, but it still cannot be used. What is the reason for this? Do I need to use messag_filters for time synchronization before calling the callback function?
Looking forward to your reply!

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Hi,
take a look at this function. This function synchronizes all necessary messages.

Hi，
Can I use the odometry provided by Realsense T265 and the Depth provided by D435i as the input of DenseSurfelMapping?

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@zhhz9706 I also want to use both t265 and d435i to generate surfel maps, can you give me some advice? thx!

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