ros vio2 + ps4 eye

程序卡顿，没办法正常工作，经常出现下面的问题

[stereo_odometer-8] process has died [pid 24456, exit code -11, cmd /home/i-rc/catkin_ws/devel/lib/viso2_ros/stereo_odom
eter stereo:=stereo image:=image_rect __name:=stereo_odometer __log:=/home/i-rc/.ros/log/46721cfc-7d09-11e7-bc70-f48e38a
22f47/stereo_odometer-8.log].
log file: /home/i-rc/.ros/log/46721cfc-7d09-11e7-bc70-f48e38a22f47/stereo_odometer-8*.log

解决：tf 坐标配置有问题，增加base_link 和 ps4_camera 的静态变换后效果有所改善，不再经常崩溃
关于摄像头在ROS下面的坐标：

参考:

1. http://wiki.ros.org/viso2_ros?distro=groovy
2. https://answers.ros.org/question/63071/viso2-camera-configuration/
3. http://www.cvlibs.net/datasets/kitti/setup.php
4. https://answers.ros.org/question/44232/stereo-libviso2-doesnt-seem-compute-an-accuracy-odometry/