liushuo1024 / lsd-slam-roskinetic Goto Github PK

原程序为 https://github.com/YaoZhiwen/lsd_slam_catkin_16.04 ，安装方法见原README.md

1. 因无法正常生成ros消息的头文件，我在另一个package里生成了之后将keyframeMsg.h、keyframeGraphMsg.h两个文件复制到~/catkin_ws/src/lsd_slam/lsd_slam_viewer/src。

2. 原程序总是有#include错误，如#include "lsd_slam_viewer/KeyFrameDisplay.h"，我把所有的lsd_slam_viewer/都删掉了。

3. OpenCV路径不对，我根据系统中的路径修改~/catkin_ws/src/lsd_slam/lsd_slam_core/CMakeLists.txt文件为：

4. set(OpenCV_INCLUDE_DIRS /opt/ros/kinetic/include/opencv-3.3.1-dev)
   set(OpenCV_LIBS /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_highgui3.so.3.3.1 /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_calib3d3.so.3.3.1)
   set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev)

5. 编译完后，运行报错QObject::startTimer: Timers cannot be started from another thread，将/home/liuly/catkin_ws/src/lsd_slam/lsd_slam_core/src/util/settings.h中的bool displayDepthMap = true;改为bool displayDepthMap = false;。

roscore
rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info
rosbag play /mnt/hgfs/dataset/LSD_room.bag
rosrun lsd_slam_viewer viewer

roslaunch realsense2_camera rs_camera.launch
rosrun lsd_slam_core live_slam image:=/camera/color/image_raw camera_info:=/camera/cocolor/camera_info
rosrun lsd_slam_viewer viewer