SLAM--LSD_SLAM在高版本系统中运行(ubuntu20.04 ROS-noetic)

LSD_SLAM原地址：
https://github.com/tum-vision/lsd_slam

修改后github地址：
https://github.com/zouyuelin/LSD_SLAM_Changed.git

LSD_ROOM数据集： https://vision.in.tum.de/research/vslam/lsdslam

1.下载usb_cam到ROS的工作目录:

cd ~/catkin_ws/src/
git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
cd ~/catkin_ws/
catkin_make

2.编译：

rosmake lsd_slam

3.运行：

在线单目：

roscore
roslaunch usb_cam usb_cam-test.launch
rosrun lsd_slam_viewer viewer
rosrun lsd_slam_core live_slam image:=/usb_cam/image_raw _calib:=./calib/my.cfg

其中，_calib是相机标定的文件cfg, image是需要订阅的话题，可以使用 rostopic list来查看：
运行结果：（这里我们找到/usb_cam/image_raw 话题）

$ rostopic list 
/LSD_SLAM/Debug/parameter_descriptions
/LSD_SLAM/Debug/parameter_updates
/LSD_SLAM/parameter_descriptions
/LSD_SLAM/parameter_updates
/image_view/output
/image_view/parameter_descriptions
/image_view/parameter_updates
/lsd_slam/debug
/lsd_slam/graph
/lsd_slam/keyframes
/lsd_slam/liveframes
/lsd_slam/pose
/rosout
/rosout_agg
/statistics
/usb_cam/camera_info
/usb_cam/image_raw
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth
/usb_cam/image_raw/compressedDepth/parameter_descriptions
/usb_cam/image_raw/compressedDepth/parameter_updates
/usb_cam/image_raw/theora
/usb_cam/image_raw/theora/parameter_descriptions
/usb_cam/image_raw/theora/parameter_updates
/viewer/parameter_descriptions
/viewer/parameter_updates

利用 rqt_graph 查看：
可以看到LSD_SLAM订阅成功了;

利用数据集LSD_room:

roscore
rosrun lsd_slam_viewer viewer
rosrun lsd_slam_core dataset_slam _files:=./LSD_room/images _calib:=./LSD_room/cameraCalibration.cfg _hz:=1

其中_hz表示频率，可以设为0（可能会报错），或者其他数值（10）；
利用 rqt_graph 查看：

 
 
运行结果：