I'm new to lsd_slam and I'm trying to use lsd_slam on the 'freiburg1_xyz' sequence from TUM. My question is that which directory in the freiburg1_xyz sequence should be used. I'm assuming it's the rgb directory which contains 798 image files.
I did the instructions as told:
rosrun lsd_slam_core dataset_slam _files:=ORB_SLAM2/rgbd_dataset_freiburg1_xyz/rgbd_dataset_freiburg1_xyz/rgb/ _hz:=30 _calib:=/opt/ros/kinetic/share/lsd_slam/lsd_slam_core/calib/fri.cfg
And I got results like:
Reading Calibration from file /opt/ros/kinetic/share/lsd_slam/lsd_slam_core/calib/fri.cfg ... found!
found ATAN camera model, building rectifier.
Input resolution: 640 480
In: 0.517300 0.516500 0.319500 0.239500 0.000000
NO RECTIFICATION
Output resolution: 640 480
Prepped Warp matrices
Started mapping thread!
Started constraint search thread!
Started optimization thread
found 798 image files in folder ORB_SLAM2/rgbd_dataset_freiburg1_xyz/rgbd_dataset_freiburg1_xyz/rgb/!
Doing Random initialization!
started image display thread!
Done Random initialization!
init done
QObject::startTimer: Timers cannot be started from another thread
Finalizing Graph... finding final constraints!!
Optizing Full Map!
Done optizing Full Map! Added 0 constraints.
Finalizing Graph... optimizing!!
doing final optimization iteration!
Finalizing Graph... publishing!!
It will stuck here and won't keep going. Meanwhile, the DebugWindow DEPTH will come out but nothing happened in it and it shows it's not responding anymore. I read some solutions saying it is becaue I build opencv with qt=on. What should I do to that? Should I rebuild my opencv with qt=off? How am I supposed to do that? Thank you for answering.
Hi,
I'm new to lsd_slam and I'm trying to use lsd_slam on the 'freiburg1_xyz' sequence from TUM. My question is that which directory in the freiburg1_xyz sequence should be used. I'm assuming it's the rgb directory which contains 798 image files. I did the instructions as told: rosrun lsd_slam_core dataset_slam _files:=ORB_SLAM2/rgbd_dataset_freiburg1_xyz/rgbd_dataset_freiburg1_xyz/rgb/ _hz:=30 _calib:=/opt/ros/kinetic/share/lsd_slam/lsd_slam_core/calib/fri.cfg
And I got results like: Reading Calibration from file /opt/ros/kinetic/share/lsd_slam/lsd_slam_core/calib/fri.cfg ... found! found ATAN camera model, building rectifier. Input resolution: 640 480 In: 0.517300 0.516500 0.319500 0.239500 0.000000 NO RECTIFICATION Output resolution: 640 480 Prepped Warp matrices Started mapping thread! Started constraint search thread! Started optimization thread found 798 image files in folder ORB_SLAM2/rgbd_dataset_freiburg1_xyz/rgbd_dataset_freiburg1_xyz/rgb/! Doing Random initialization! started image display thread! Done Random initialization! init done QObject::startTimer: Timers cannot be started from another thread Finalizing Graph... finding final constraints!! Optizing Full Map! Done optizing Full Map! Added 0 constraints. Finalizing Graph... optimizing!! doing final optimization iteration! Finalizing Graph... publishing!!
It will stuck here and won't keep going. Meanwhile, the DebugWindow DEPTH will come out but nothing happened in it and it shows it's not responding anymore. I read some solutions saying it is becaue I build opencv with qt=on. What should I do to that? Should I rebuild my opencv with qt=off? How am I supposed to do that? Thank you for answering.