Dear Kaixuan:
I've viewed your paper and the program, thank you for your excellent work!
Something goes wrong when I compile the master-branch program, like this:

This happens under both CUDA 8.0 and CUDA 10.0, with Ubuntu 16.04 and ROS Kinetic.
There' s no error when I try the no_cudaopencv brach, I can run the program with your dataset and view the depth image, but it seems that delays exist between the raw image and the depth image, and that's why I wanna try the master-brach program.
Could you please give me some advice about solving this problem, like some adjustments to the code? Looking forward to your reply.
Best regards,
Zhang Bohua