DunFenTiao commented 6 years ago

编译失败

DunFenTiao commented 6 years ago

opencv版本冲突 √解决：卸载opencv3

ubuntu卸载opencv并重装opencv3.0.0 https://www.cnblogs.com/txg198955/p/5990295.html

tips:

lsd-slam github issue上面找到问题的根源，但是他们的方法都不太好用，还是卸了重新选个地方安装比较clean
查看linux下的opencv安装版本：
```
pkg-config opencv --modversion  
```
linux下查看opencv安装路径以及版本号 https://blog.csdn.net/zhenguo26/article/details/79627232

DunFenTiao commented 6 years ago

calibration ok

#run camera /dev/video1
roslaunch usb_cam-test.launch
#show
rosrun image_view image_view image/image_raw
#run
rosrun lsd_slam_core live_slam /image:=/usb_cam/image_raw _calib:=/home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/OpenCV_example_calib.cfg

DunFenTiao commented 6 years ago

calibration

rosrun camera_calibration cameracalibrator.py --size 9x6 --squa 0.026 image:=/usb_cam/image_raw camera:=/usb_cam

'Wrote calibration data to', '/tmp/calibrationdata.tar.gz')

https://blog.csdn.net/heyijia0327/article/details/43538695

DunFenTiao commented 6 years ago

rosrun lsd_slam_core live_slam /ime:=/usb_cam/image_raw _calib:=/home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/usbcam_ma0617.cfg

DunFenTiao commented 6 years ago

todo 运行了几帧之后，跟踪失败

hri@hri-XPS:~/catkin_ws/src/usb_cam/launch$ rosrun lsd_slam_core live_slam /image:=/usb_cam/image_raw _calib:=/home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/usbcam_ma0617.cfg
Reading Calibration from file /home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/usbcam_ma0617.cfg ... found!
found OpenCV camera model, building rectifier.
Input resolution: 640 480
In: 746.537170 742.425964 302.898529 204.271774 0.000000 0.000000 0.000000 0.000000
Out: Crop
Output resolution: 640 480
Started mapping thread!
Started  constraint search thread!
Started optimization thread 
Doing Random initialization!
started image display thread!
Done Random initialization!
TRACKING LOST for frame 13 (0.00% good Points, which is -nan% of available points, DIVERGED)!

DunFenTiao commented 6 years ago

todo 运行了几帧之后，跟踪失败

hri@hri-XPS:~/catkin_ws/src/usb_cam/launch$ rosrun lsd_slam_core live_slam /image:=/usb_cam/image_raw _calib:=/home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/usbcam_ma0617.cfg
Reading Calibration from file /home/hri/catkin_ws/src/lsd_slam-catkin/lsd_slam_core/calib/usbcam_ma0617.cfg ... found!
found OpenCV camera model, building rectifier.
Input resolution: 640 480
In: 746.537170 742.425964 302.898529 204.271774 0.000000 0.000000 0.000000 0.000000
Out: Crop
Output resolution: 640 480
Started mapping thread!
Started  constraint search thread!
Started optimization thread 
Doing Random initialization!
started image display thread!
Done Random initialization!
TRACKING LOST for frame 13 (0.00% good Points, which is -nan% of available points, DIVERGED)!

DunFenTiao / pku-hri-navigation

lsd-slam #11

todo 运行了几帧之后，跟踪失败

todo 运行了几帧之后，跟踪失败