{"action":"created","issue":{"url":"https://api.github.com/repos/m4nh/skimap_ros/issues/21","repository_url":"https://api.github.com/repos/m4nh/skimap_ros","labels_url":"https://api.github.com/repos/m4nh/skimap_ros/issues/21/labels{/name}","comments_url":"https://api.github.com/repos/m4nh/skimap_ros/issues/21/comments","events_url":"https://api.github.com/repos/m4nh/skimap_ros/issues/21/events","html_url":"https://github.com/m4nh/skimap_ros/issues/21","id":323862011,"number":21,"title":"3D mapping result is weired","user":{"login":"Bzhnja","id":3339589,"avatar_url":"https://avatars0.githubusercontent.com/u/3339589?v=4","gravatar_id":"","url":"https://api.github.com/users/Bzhnja","html_url":"https://github.com/Bzhnja","followers_url":"https://api.github.com/users/Bzhnja/followers","following_url":"https://api.github.com/users/Bzhnja/following{/other_user}","gists_url":"https://api.github.com/users/Bzhnja/gists{/gist_id}","starred_url":"https://api.github.com/users/Bzhnja/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Bzhnja/subscriptions","organizations_url":"https://api.github.com/users/Bzhnja/orgs","repos_url":"https://api.github.com/users/Bzhnja/repos","events_url":"https://api.github.com/users/Bzhnja/events{/privacy}","received_events_url":"https://api.github.com/users/Bzhnja/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-05-17T03:42:57Z","updated_at":"2018-05-19T08:40:49Z","closed_at":null,"author_association":"NONE","body":"Hi @m4nh ,\r\nI have tried this package on my own slam system, but the 3d mapping result is not correct, there are so many vertical strips, the result is as following,\r\n![screenshot from 2018-05-17 11 14 36](https://user-images.githubusercontent.com/3339589/40155318-9cd04cb2-5982-11e8-8974-2607be63daf8.png)\r\nand the LiveCloud topic is this, it is only several narrow vertical strips:\r\n![screenshot from 2018-05-17 11 15 22](https://user-images.githubusercontent.com/3339589/40155391-feb74232-5982-11e8-99da-197a0be27933.png)\r\nBut actually my depth image looks like the image below.\r\n![screenshot from 2018-05-17 11 17 45](https://user-images.githubusercontent.com/3339589/40155488-8847e506-5983-11e8-88d5-3c4fe86d67b8.png)\r\nThis is the skimap_live.launch that I have modified.\r\n`<launch>\r\n\r\n    <arg name=\"camera\" default=\"camera\" />\r\n\r\n    <node name=\"skimap_live\" output=\"screen\" pkg=\"skimap_ros\" type=\"skimap_live\">\r\n\r\n        <!-- Generic Parameters -->\r\n        <param name=\"hz\" value=\"10\" />\r\n\r\n        <!-- Topics Parameters -->\r\n        <param name=\"camera_rgb_topic\" value=\"/$(arg camera)/rgb/image_raw\" />\r\n        <param name=\"camera_depth_topic\" value=\"/$(arg camera)/depth_registered/image_raw\" />\r\n\r\n        <!-- Cloud parameters  -->\r\n        <param name=\"point_cloud_downscale\" value=\"1\" />\r\n\r\n        <!-- RGB-D Parameters -->\r\n        <param name=\"fx\" value=\"520.5687\" />\r\n        <param name=\"fy\" value=\"520.9826\" />\r\n        <param name=\"cx\" value=\"328.6763\" />\r\n        <param name=\"cy\" value=\"236.1047\" />\r\n        <param name=\"rows\" value=\"480\" />\r\n        <param name=\"cols\" value=\"640\" />\r\n        <param name=\"camera_distance_max\" value=\"3\" />\r\n        <param name=\"camera_distance_min\" value=\"0.45\" />\r\n\r\n        <!-- Mapping parameters -->\r\n        <param name=\"base_frame_name\" value=\"vodom\" />\r\n        <param name=\"camera_frame_name\" value=\"camera_rgb_optical_frame\" />\r\n        <param name=\"map_resolution\" value=\"0.05\" />\r\n        <param name=\"min_voxel_weight\" value=\"100\" />\r\n        <param name=\"ground_level\" value=\"0.05\" />\r\n        <param name=\"agent_height\" value=\"1.5\" />\r\n        <param name=\"enable_chisel\" value=\"false\" />\r\n        <param name=\"chisel_step\" value=\"30\" />\r\n        <param name=\"height_color\" value=\"true\" />\r\n\r\n\r\n\r\n    </node>\r\n\r\n    <node pkg=\"rviz\" type=\"rviz\" output=\"screen\" name=\"rviz\" args=\"-d $(find skimap_ros)/rviz/skimap_live.rviz\" />\r\n\r\n</launch>`\r\nWhat's wrong with my operation, any suggestions? Thank you.\r\n"},"comment":{"url":"https://api.github.com/repos/m4nh/skimap_ros/issues/comments/390390036","html_url":"https://github.com/m4nh/skimap_ros/issues/21#issuecomment-390390036","issue_url":"https://api.github.com/repos/m4nh/skimap_ros/issues/21","id":390390036,"user":{"login":"Bzhnja","id":3339589,"avatar_url":"https://avatars0.githubusercontent.com/u/3339589?v=4","gravatar_id":"","url":"https://api.github.com/users/Bzhnja","html_url":"https://github.com/Bzhnja","followers_url":"https://api.github.com/users/Bzhnja/followers","following_url":"https://api.github.com/users/Bzhnja/following{/other_user}","gists_url":"https://api.github.com/users/Bzhnja/gists{/gist_id}","starred_url":"https://api.github.com/users/Bzhnja/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Bzhnja/subscriptions","organizations_url":"https://api.github.com/users/Bzhnja/orgs","repos_url":"https://api.github.com/users/Bzhnja/repos","events_url":"https://api.github.com/users/Bzhnja/events{/privacy}","received_events_url":"https://api.github.com/users/Bzhnja/received_events","type":"User","site_admin":false},"created_at":"2018-05-19T08:40:49Z","updated_at":"2018-05-19T08:40:49Z","author_association":"NONE","body":"@m4nh hi,\r\nI have changed \"camera_distance_max\" to be 10, but the LiveCloud topic is still not correct.\r\n\r\n![screenshot from 2018-05-19 16 26 06](https://user-images.githubusercontent.com/3339589/40266738-2056ff36-5b40-11e8-909f-6c30f6039d0e.png)"}}
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