LSD_SLAM+ Ubuntu 安装usb相机运行及rqt调参

Lsd slam 使用文档

 

安装与编译lsd slam

mkdir
-p ~/catkin_ws/src

git
clone https://github.com/tum-vision/lsd_slam.git

cd
lsd_slam

git
checkout catkin

##change to the Catkin "branch" of the LSD-SLAM project, then:

sudo
apt-get install ros-indigo-libg2o ros-indigo-cv-bridge liblapack-dev
libblas-dev freeglut3-dev libqglviewer-dev libsuitesparse-dev
libx11-dev

##对lsd_slam/lsd_slam_viewer和lsd_slam/lsd_slam_core文件夹下的package.xml中添加（注意添加位置与源程序一致）：

<build_depend>cmake_modules</build_depend>

<run_depend>cmake_modules</run_depend>

##对lsd_slam/lsd_slam_viewer和lsd_slam/lsd_slam_core文件夹下的CMakeFiles.txt中添加：

find_package(cmake_modules REQUIRED)

 

##并且在所有的target_link_libraries中添加X11，如：

target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsp