lsd_slam试用—-在indigo上

1、利用https://github.com/tum-vision/lsd_slam介绍的方法先安装需要的模块：

    

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

2、安装LSD—SLAM

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

3、编译LSD—SLAM

rosmake lsd_slam

4、

rosrun lsd_slam_viewer viewer

5、

rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info

6、播放bag

rosbag play ~/LSD_room.bag

7、在另外一台机器上安装lsd slam软件包时，需要将ros-indigo-sophus软件包卸载才可。好像这个软件包里面sim3.hpp文件和软件包中自带的sim3.hpp文件不同。用软件的会出错

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未完继续