LSD SLAM with ROS and Ubuntu 16.04

Pre-requisites

1. ROS Kinetic

Installation

sudo apt install libsuitesparse-dev libqglviewer-dev-qt4 ros-kinetic-libg2o  ros-kinetic-opencv3
sudo ln -s /usr/lib/x86_64-linux-gnu/libQGLViewer-qt4.so /usr/lib/x86_64-linux-gnu/libQGLViewer.so  

mkdir -p ros_workspace/src
cd ros_workspace/src
git clone https://github.com/kevin-george/lsd_slam.git src/lsd_slam  
cd ..
catkin_make

Usage

1. Run a cv_camera node. You will need to clone and build the cv_camera ROS package to use this.

   rosrun cv_camera cv_camera_node /cv_camera/image_raw:=/camera/image_raw

2. Run the LSD_SLAM node. There is a calibration param file to test with, in the repo. Please make your own to get better results.

   rosrun lsd_slam_core live_slam /image:=/camera/image_raw _calib:=src/lsd_slam/calibration_params

3. The window where you ran command 2. will not show any information, please use the below command in a separate terminal to view the ROS pose information being published

   rostopic echo /lsd_slam/pose