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tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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Do I need a camera for using lsd_slam? #236

Open thumbhero opened 7 years ago

thumbhero commented 7 years ago

Under Ubuntu 14.04 LTS + ROS Indigo, I followed instructions to installed lsd_slam successfully. (I think) I have no webcam on my computer. 【1】 One thing I am not sure that for the following instruction:

In your ROS package path, clone the repository: git clone https://github.com/tum-vision/lsd_slam.git lsd_slam

I made it as the path: 【2】 ~/rosbuild_ws/package_dir/lsd_slam

However after the setup I tried to do: (LSD_room.bag is under ~/) rosrun lsd_slam_viewer viewer LSD_room.bag It shows the following msg and displays a PointCloud Viewer with grey only.【3】 Started QApplication thread

Also, I tried to execute like: 【4】 rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info It shows: Couldn't find executable named live_slam below /root/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core

My questions are: 【1】 If the root cause is that I do not have a camera thus I cannot use lsd_slam? 【2】 The path is the correct "ROS package path" or not? How can I check for it. 【3】 My expectation was to see some pointcloud-like contents, am I wrong with that? 【4】 Is the command correct or not. I was expecting pointcloud-like contents...

Thank you for the review and the feedback in advance.

apesIITM commented 7 years ago

One does not necessarily require camera to run lsd_slam. You can use rosbag files for now. I think you installed lsd_slam package in rosbuils_ws as a normal user (with sudo previlages), and running with lsd_slam as root Append the following lines to your ~/.bashrc file export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/rosbuild_ws/package_dir Then open 4 new terminals, and execute following commands to get lsd_slam running roscore rosrun lsd_slam_viewer viewer nohup rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info nohup rosbag play ~/LSD_room.bag If you further need help in installation of lsd_slam, use this script installation_files_lsd_slam.zip [Please close this issue]