Ubuntu12.04+fuerte running through lsd-slam--using a USB camera

The previous article describes how to use a dataset to run Lsd-slam, this article describes how to run Lsd-slam with a normal USB camera, the default Ubuntu12.04,fuerte has been installed, Workspace has also been set, if not, Please refer to the post of Lsd-slam running in the previous data set.

The camera I use is a Logitech C310 USB camera, and the other USB cameras should be fine.

1. Test the camera for good or bad. Install cheese, perform

$ sudo apt-get install cheese

Run cheese, execute

$ cheese

Confirm that the camera works correctly under Ubuntu

2. Install the corresponding driver under Ros. Perform

$ sudo apt-get install ROS-FUERTE-CAMERA-UMD

Then execute

$ ROSCD Uvc_camera

If you are in the Uvc_camera folder now, the installation is successful.

3. Find the device number that corresponds to the camera. Perform

$ ls/dev/video*

If there's only one camera, you should see/dev/video0.

4. Change the launch file. Enter the launch folder under Uvc_camera, open the Camera_node.launch file, and change to

<launch><arg name= "Device" default= "/dev/video0"/>   <node pkg= "Uvc_camera" type= "Camera_node" Name= "Uvc_camera" output= "screen" >    <param name= "width" type= "int" value= "640"/>    <param name= " Height "type=" int "value=" 480 "/>    <param name=" fps "type=" int "value=" "/> <param name=    " Frame " Type= "string" value= "Wide_stereo"/>    <param name= "Device" type= "string" value= "/dev/video0"/>  < /node></launch>

If you are not at ease, you can back up the original file, which/dev/video0 this to be with their previous query to the corresponding

5. Implementation

$ roscore

If there is already a shell executing this command, executing it again will give an error, allowing only one roscore to be executed.

6. Open a new terminal and execute

$rosrun Lsd_slam_viewer Viewer

The Point Cloud Viewer appears

7. Open a new terminal and execute

$ roslaunch Uvc_camera Camera_node.launch

There may be errors in the middle, no tubes. At this point, if the camera has a work light, the indicator light should be light

8. Open a new terminal. Perform

$ rosrun Lsd_slam_core live_slam/image:=<yourstreamtopic> _calib:=<calibration_file>

Which yourstreamtopic I do not understand, Calibration_file is the correct file, I directly use the data set of the correction file (there may be a problem with the principle, but can run through). It's mine

$ rosrun Lsd_slam_core Live_slam/image:=image_raw _calib:=/home/xtl/fuerte_workspace/sandbox/lsd_room_images/lsd_ Room/cameracalibration.cfg

Results

Point cloud is displayed in the Dot Cloud Viewer:

Ubuntu12.04+fuerte running through lsd-slam--using a USB camera