ubuntu16.04运行LSD SLAM

####仅作为笔记
环境
由于LSD SLAM的github上支持的是ubuntu12.04和ubuntu14.04，所以在ubuntu16.04安装时需要修改一些内容
参考：
https://blog.csdn.net/softimite_zifeng/article/details/78632653
https://www.cnblogs.com/cc111/p/9382694.html
https://blog.csdn.net/qq_40806289/article/details/82835019?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param

##下面两个是已经修改后的版本，内容未实测，可以参考
https://github.com/YaoZhiwen/lsd_slam_catkin_16.04
https://github.com/Chatoyant19/LSD-SLAM

1. 依赖

sudo apt-get install ros-kinetic-libg2o ros-kinetic-cv-bridge liblapack-dev libblas-dev freeglut3-dev libqglviewer-dev-qt4 libsuitesparse-dev libx11-dev

2. 安装LSD SLAM

sudo apt-get install python-rosinstall
mkdir ~/rosbuild_ws
cd ~/rosbuild_ws
rosws init . /opt/ros/indigo
mkdir package_dir
rosws set ~/rosbuild_ws/package_dir -t .
echo "source ~/rosbuild_ws/setup.bash" >> ~/.bashrc
bash
cd package_dir
git clone https://github.com/tum-vision/lsd_slam.git lsd_slam
rosmake lsd_slam

3. 测试

#数据集：https://vision.in.tum.de/research/vslam/lsdslam?redirect=1
roscore  #一个终端
rosrun lsd_slam_core live_slam /image:=<yourstreamtopic> /camera_info:=<yourcamera_infotopic>  #第二个终端
rosbag play 你的数据集路径          #第三个终端

4. 测试结果