LSD-SLAM使用方法

preparation：按照官網步驟完成LSD的安裝。

1、testdata：need images file & cameraCalibration.cfg

2、開啟終端機
   ->輸入roscore


3、開新終端機
   ->將lsd_slam加入ROS_PACKAGE_PATH(EX:

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/lsd_slam

)
   ->輸入

rosrun lsd_slam_viewer viewer 

開啟PointCloud Viewer


4、開新終端機
   ->將lsd_slam加入ROS_PACKAGE_PATH(EX:

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/lsd_slam

)
   ->輸入rosrun lsd_slam_core dataset_slam _files:=(testimage folder路徑) hz:=(fps) _calib:=(cameraCalibration.cfg) (EX:

rosrun lsd_slam_core dataset_slam _files:=/home/imlab/images/room hz:=30 _calib:=/home/imlab/images/cameraCalibration.cfg

)