Ubuntu12.04+fuerte run-through lsd-slam--data set

The first time in the blog park to write articles, write bad places, also please point out:)

Lsd-slam (download Link: Https://github.com/tum-vision/lsd_slam) provides two methods, one using a dataset (Http://vision.in.tum.de/lsdslam), One is with the USB camera, GitHub also has the appropriate instructions for use, not very detailed, the following describes my steps. PS: Also a slam novice, a lot of things do not understand, there is the wrong place please point out

Environment: Ubuntu12.04+fuerte

Target: Use data sets, run through Lsd-slam

1. Install the ubuntu12.04. I installed a dual system, not very recommended for virtual machines, the first to use the virtual machine did not succeed, and later replaced by a dual system

2. Install the Fuerte. Follow Http://wiki.ros.org/fuerte/Installation/Ubuntu This tutorial, followed by setting up the ROS environment, according to http://wiki.ros.org/ROS/Tutorials/ Installingandconfiguringrosenvironment This step, take note of the 4th step, to choose Rosbuild, here

SOURCE ~/fuerte_workspace/setup.bash

If this is set, only valid for the current shell, causing each new shell to execute the above command, you can add environment variables

" Source ~/fuerte_workspace/setup.bash " >> ~/bashrcsource~/.BASHRC

Such a modification, permanently valid.
3. Executing in the shell

Roscore

Results:

Roscore to keep running.

4. Open a new shell and execute

Rosrun Lsd_slam_viewer Viewer

Results:

You can see nothing in the Pointcloud viewer.

5. Open a new shell and execute

Rosrun lsd_slam_core Dataset_slam _files:=<files> _hz:=
<files> represents the location of the picture in the dataset,
Rosrun Lsd_slam_core Dataset_slam _files:=/home/xtl/fuerte_workspace/sandbox/lsd_room_images/lsd_room/images _hz:= 0 _calib:=/home/xtl/fuerte_workspace/sandbox/lsd_room_images/lsd_room/cameracalibration.cfg
Results
Point Cloud Viewer at the same time
The next article will show you how to run Lsd-slam using a USB camera.
Ubuntu12.04+fuerte run-through lsd-slam--data set