preparation：按照官網步驟完成LSD的安裝。
1、testdata：need images file & cameraCalibration.cfg
2、開啟終端機
->輸入roscore
3、開新終端機
->將lsd_slam加入ROS_PACKAGE_PATH(EX:
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/lsd_slam
)
->輸入
rosrun lsd_slam_viewer viewer
開啟PointCloud Viewer
4、開新終端機
->將lsd_slam加入ROS_PACKAGE_PATH(EX:
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ivlab/lsd_slam
)
->輸入rosrun lsd_slam_core dataset_slam _files:=(testimage folder路徑) hz:=(fps) _calib:=(cameraCalibration.cfg) (EX:
rosrun lsd_slam_core dataset_slam _files:=/home/imlab/images/room hz:=30 _calib:=/home/imlab/images/cameraCalibration.cfg
)