How to install LSD-SLAM?

[NAMCER]

I installed ros indgo in 14.04 ubuntu

However, I don't know how to set up lsd_slam_core for using live_slam and dataset_slam

Also I am really wondering what is meant of image:= _calib:=. Shoulld I fix it?

[ssaeger]

If you use a camera that supports the UVC standard (many standard USB cameras and internal webcams of laptops do) you can use live_slam with the following commands: (run each command in one terminal, hence 4 terminals are needed) roscore rosrun uvc_camera uvc_camera_node device:=/dev/video0 (if your camera is not at video0 you have to adapt this here) rosrun lsd_slam_viewer viewer rosrun lsd_slam_core live_slam image:=image_raw calib:=/home/user/calibration_file.cfg (here you have to adapt the path to the calibration file of your camera, for example in this case /home/user/calibration_file.cfg)

[NAMCER]

I am almost done..just in my think.. but..when I try rosrun lsd_slam_viewer viewer I always get error liki this is that [ERROR] [1420458157.529329408]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...

[ssaeger]

Before you can run the lsd_slam_viewer you have to run roscore in another terminal, because the viewer wants to register at the roscore process. So if you run the comands in the same order as in my comment above and each in a different terminal, it should work.

[NAMCER]

You are so kind! I really appreciate it. I think that I almost done but..when I launch [rosrun lsd_slam_viewer viewer](actually it is also executed), I can see camera viwer like tetrahedron,but there is not point cloud..so Plz help me again I always appreciate your favor Thanx :100:

Aha! I have a quastion more sorry...Actually I purchase global shutter camera maybe it is same with yours maybe.. anyway I am using this camer for LSD-SLAM so I tried [rosrun lsd_slam_core live_slam /image:= /camera_info:=] this sentece so in this sentece what is mean fo yourcamera_infotopic and can I know where can I get it?

[NAMCER]

Also I really want to know where is the file which can fix the parameters of checker board when I use PTAM CALIBRATOR(It means I want to know which size of checker board) this is my problem plz help Thanx :+1:

[ssaeger]

Sorry but I'm not familiar with the PTAM calibrator, but maybe this can help you to calibrate your camera: http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration You can get your camera_infotopic by running rostopic list after starting your camera and searching for camera_info in the appearing list. On your screenshot everything looks good to me so far, but a window with the camera image is missing.

[NAMCER]

Ok! do you know why my camera is missing the images? actually I really don't know this. if I solve it, I think that I almost solve my problems

[ssaeger]

Unfortunately I do not know what the problem is, but I would guess that the problem is related to the camera nodelet. If you do not use it already, you can try the following nodelet, which is working for me: http://wiki.ros.org/ueye_cam.

[JakobEngel]

we used a modified version of http://wiki.ros.org/ueye which I think does about the same. The first step would be to make sure your camera works, and that you get an image using rosrun image_view image_view image:=. then you can try to run the cameracalibrator, and then lsd_slam.

[NAMCER]

To JakobEngel and ssager I really appreciate your favor. Actually..I missed an important thing. upper picture(what it is my question with error) I can not see poincloud in pointcloud window(just there are camera viewer). Is this problem related with your answer?(For example http://wiki.ros.org/ueye_cam , http://wiki.ros.org/ueye)

I really wanna see result of your lsd slam !! Thanx :+1:

[vtomilov]

@JakobEngel Hello! I'm having almost the same issue - my image topic is 640x480 mono8 from my laptop integrated webcam, that works through image_proc and it works fine (checked with rviz). But when I run the lsd_slam, there is no point cloud in the point cloud viewer, just the pose, and pose changes if I move my camera. So, how can I get the point cloud in lsd_slam_viewer? And when I run the system from .bag file, there is also only moving pose in lsd_slam_viewer window.

[ningt]

Hi I have trouble with minimal setup. when i run this line "rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info", and error occurs "[rosrun] Couldn't find executable named live_slam below /opt/ros/fuerte/lsd_slam/lsd_slam_core".

Can anyone help? thanks

[antithing]

Hi, I am also having camera issues...

when i run:

rosrun uvc_camera uvc_camera_node device:=/dev/video0

it gives me:

opening /dev/video0 pixfmt 0 = 'YUYV' desc = 'YUV 4:2:2 (YUYV)' discrete: 640x480: 1/30 discrete: 160x120: 1/30 discrete: 176x144: 1/30 discrete: 320x240: 1/30 discrete: 352x288: 1/30 discrete: 1280x720: 1/8 discrete: 1280x960: 1/8 discrete: 1280x1024: 1/8 pixfmt 1 = 'MJPG' desc = 'MJPEG' discrete: 640x480: 1/30 discrete: 160x120: 1/30 discrete: 176x144: 1/30 discrete: 320x240: 1/30 discrete: 352x288: 1/30 discrete: 1280x720: 1/30 discrete: 1280x960: 1/23 discrete: 1280x1024: 1/23 int (Brightness, 0, id = 980900): -255 to 255 (1) int (Contrast, 0, id = 980901): 0 to 30 (1) int (Saturation, 0, id = 980902): 0 to 127 (1) int (Hue, 0, id = 980903): -16000 to 16000 (1) bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1) int (Gamma, 0, id = 980910): 20 to 250 (1) menu (Power Line Frequency, 0, id = 980918): 0 to 2 (1) 0: Disabled 1: 50 Hz 2: 60 Hz int (White Balance Temperature, 16, id = 98091a): 2500 to 7000 (1) int (Sharpness, 0, id = 98091b): 0 to 64 (1) int (Backlight Compensation, 0, id = 98091c): 0 to 2 (1) terminate called after throwing an instance of 'std::runtime_error' what(): unable to start capture Aborted (core dumped)

The other steps run, but here is no capture, as it fails here.

Any help greatly appreciated!

[klekkala]

@ningt

Which means your rosmake was not successfully completed. There are some errors.

[gunshi]

Hi, has anyone tried running on OS X? I am able to compile successfully both ROS and lsd_slam, on OS X 10.11.12 El Capitan. I just don't know how to tweak the commands given to run live_slam, for example, I couldn't find out where the iSight camera(supports UVC) is located (in place of /dev/video0 on linux), and so on. Thanks!

[Thomas00010111]

Hi @vtomilov,

Could you solve this problem? On my laptop lsd slam works on my pc it doesn't. The only difference I see is that on the PC opengl is used. Image_view works on both computers.

Cheers, Thomas

[gabrielarpino]

Hey, I am having the same issue as @ningt , [rosrun] Couldn't find executable named live_slam below. Any solutions to this?

[bonlime]

In case somebody will have the same problem as gabrielarpino: To fix in reinstall ros and check that everything was installed without errors