The surfel fusion can not work when I use realsense D435

[HeartFreeNo1]

I changed the camera parameters and topic name to realsense in kitti_orb.launch. What I changed are as follows:

<launch>
  <node pkg="surfel_fusion" type="surfel_fusion" name="surfel_fusion" clear_params="true" output="screen">

    <!-- camera parameter -->
    <param name="cam_width" value="640" />
    <param name="cam_height" value="480" />

    <!--input image info-->
    <param name="cam_fx" value="614.4114379882812" />
    <param name="cam_cx" value="324.2138671875" />
    <param name="cam_fy" value="614.7125244140625" />
    <param name="cam_cy" value="236.86329650878906" />

    <!-- fusion parameter, all in meter -->
    <param name="fuse_far_distence" value="30.0" />
    <param name="fuse_near_distence" value="0.5" />

    <!-- for deform the map -->
    <param name="drift_free_poses" value="30" />

    <!-- for data save -->
    <!-- <param name="save_name" value="/home/wangxinxin/bag/surfel_fusion/results/rgbd/realsense_loop" /> -->

    <remap from="~image" to="/camera/color/image_raw" />
    <remap from="~depth" to="/camera/depth/image_rect_raw" />
    <remap from="~loop_path" to="/orb_slam/path" />
    <remap from="~this_pose" to="/orb_slam/pose" />
    <remap from="~loop_stamps" to="/orb_slam/loop" />
  </node>
</launch>

But surfel fusion can not work as follow:

When I use kitti which you used, it will be ok. Such as follow:

I don't kown why the phenomenon will occure, can you help me?

[WANG-KX]

have you check the time stamp between pose, depth, and image messages? They should be well synchronized.