supersurfel_fusion/core/src/dense_registration.cu:141 : invalid configuration argument about supersurfel_fusion HOT 8 CLOSED

In the launch file have you set the right camera_info topic? Are your images registered? There is also a parameter called depth_scale that has been set to 1.0 in this launch file. If your depth is given in mm you need to change it to 0.001.

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@BruceCanovas yeah,it is the depth_scale problem

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@BruceCanovas
But here is a new question.
when I run roslaunch supersurfel_fusion supersurfel_fusion_rviz.launch,
sometimes it will fail, sometimes it will run seccessful .
This error doesn't happen every time, it works out about once every three times,here is the log:

[ INFO] [1608202697.094077174]: rviz version 1.13.15
[ INFO] [1608202697.094101372]: compiled against Qt version 5.9.5
[ INFO] [1608202697.094106631]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1608202697.096317335]: Forcing OpenGl version 0.
[ INFO] [1608202697.600992242]: Stereo is NOT SUPPORTED
[ INFO] [1608202697.601028604]: OpenGl version: 4.6 (GLSL 4.6).
Camera info received
terminate called after throwing an instance of 'thrust::system::system_error'
what(): CUDA free failed: cudaErrorIllegalAddress: an illegal memory access was encountered

It says there's an illegal access to memory,
and I guess there's something wrong with the code

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oh,the other thing I forgot to mention is that enable_mod still fails in this node

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For the problem with moving object detection I suggest we don't mix the two issues.
For the rest, as I can't replicate those issues I would need more information in order to help you. Are you able to spot which part of the code is crashing?

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@BruceCanovas

But here is a new question.
when I run roslaunch supersurfel_fusion supersurfel_fusion_rviz.launch,
sometimes it will fail, sometimes it will run seccessful .
This error doesn't happen every time, it works out about once every three times,here is the log:

[ INFO] [1608202697.094077174]: rviz version 1.13.15

[ INFO] [1608202697.094101372]: compiled against Qt version 5.9.5
[ INFO] [1608202697.094106631]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1608202697.096317335]: Forcing OpenGl version 0.
[ INFO] [1608202697.600992242]: Stereo is NOT SUPPORTED
[ INFO] [1608202697.601028604]: OpenGl version: 4.6 (GLSL 4.6).
Camera info received
terminate called after throwing an instance of 'thrust::system::system_error'
what(): CUDA free failed: cudaErrorIllegalAddress: an illegal memory access was encountered
It says there's an illegal access to memory,
and I guess there's something wrong with the code

oh,I think I might be trying to figure out what the problem is, maybe it's the image resolution.
1920x1080 and 960x540 both work well every time,
but the raw rgb and depth images from the sensor (512x424) will fail sometimes.

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For the record, image dimension are not hadcoded in the code (or if it is somewhere it's my mistake). I tested my code mostly with VGA resolution ie. 640x480. Maybe there's a probleme with the grid and block dimension set for cuda kernels processing the images with this specific resolution.

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yeah,I guess so. Thanks a lot !

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