dso_ros笔记本摄像头/外接摄像头的安装与跑通【完整流程+填坑攻略】

dso_ros笔记本摄像头的安装与跑通

环境

• Ubuntu16.04
• ROS-kinetic
• dso_ros catkin版本
• 笔记本自带单目摄像头
• 安装编译成功的DSO

安装编译dso_ros

cd ~/catkin_dso/src
git clone https://github.com/JakobEngel/dso_ros.git #这里是catkin版本
export DSO_PATH=/home/YOUR_DSO_PATH/dso
cd dso_ros
gedit CMakeLists.txt
# 修改bin文件路径 
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 
# 如果不修改，编译生成的bin将会存在build目录下，rosrun会找不到
mkdir build
cd build
cmake ..
make
sudo make install
cd ~/catkin_dso
catkin_make

安装编译usb_cam

cd ~/catkin_dso/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git 
cd ..
catkin_make
source ~/catkin_dso/devel/setup.bash

笔记本相机ROS标定

• ROSwiki有相机矫正的官方文档，有单目的也有立体相机的教程，官方链接</