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tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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how to use lsd_slam with a usb camera? #217

Closed zuomaidi52 closed 7 years ago

zuomaidi52 commented 7 years ago

Hi,I clone the source code and ran it with dataset.Now,I want to run it with my logitech usb camera, but in README.md just tell me use rosrun lsd_slam_core live_slam /image:=<yourstreamtopic> /camera_info:=<yourcamera_infotopic> what's mean in <yourstreamtopic> and <yourcamera_infotopic>? Thank you in advance!

af-silva commented 7 years ago

@zuomaidi52 Have you used ROS?? If not, my suggestion is to get familiarized with it ROS. It's the easiest way to get started using LSD-SLAM.

the <yourstreamtopic> and <yourcamera_infotopic> are ROS topics from where the LSD-SLAM gets the live stream and information about the camera.

If you want to use the webcam to acquire the video to use in the LSD-SLAM using ROS you need to have the ROS installed in your computer... Next you need to install the following ROS package and then you are ready to go. The image topic will be /camera/image or /camera/image_raw and the camera information you don't need, if you pass the values from the calibration file. To calibrate the camera you can use this ROS package.

Hope this helps :)

zuomaidi52 commented 7 years ago

Hi af-silva, I have used ROS several months, I am so sry for my question is not clear.I just want to ask what's node publish the <yourstreamtopic>.Now I used rosrun uvc_camera uvc_camera_node device:=/dev/video0 to publish camera image. Thank you for your help! :+1:

af-silva commented 7 years ago

@zuomaidi52 No worries :) If you are using the uvc_camera package the stream is being publish to the camera/image_raw ROS topic (by default), so you need to replace the <yourstreamtopic> with the ROS topic. If you need to see which are the topics being published run the rostopic list command and you will be able to see them. Another thing that is handy is the ROS rqt package, you can run it like rosrun rqt_gui rqt_gui and from there you can use any of the available plugins, but the one that is more useful for you perhaps is the rosrun rqt_image_view rqt_image_view, here you can see all the topics that are streaming videos/images and the corresponding path...

Hope this helps :)

zuomaidi52 commented 7 years ago

@af-silva I am very happy to got your help. Thanks! And your icon is very cute :)!

af-silva commented 7 years ago

No problem :) If your question is solved, please mark this issue as closed to keep the issues list clean.