lsd-slam

Based on the lsd-slam project developed by tum-vision form Munich University.

• Documentation: http://vision.in.tum.de/research/vslam/lsdslam
• Hosted on Github: https://github.com/tum-vision/lsd_slam

Some adjustments were applied to allow installation of the framework on Ubuntu 14.04, with ROS indigo and catkin. The package was ONLY tested on Ubuntu 14.04, ROS indigo and catkin.

to install:

0. make sure ROS indigo is installed and working

---

1. install dependancies

---

   sudo apt-get install ros-indigo-libg2o ros-indigo-cv-bridge liblapack-dev libblas-dev freeglut3-dev libqglviewer-dev libsuitesparse-dev libx11-dev

2. create catkin workspace

---

   mkdir catkin_ws
   mkdir catkin_ws/src
   cd catkin_ws/src
   catkin_init_workspace

3. clone this repo (into src directory)

---

   git clone https://github.com/antonays/lsd-slam.git lsd-slam

4. make using catkin

---

   cd ../.. (make sure to be in catkin_ws - same level of /src)
   catkin_make

after some time should compile correctly

Alterations performed:

========================

• in 'catkin_ws/src/lsd_slam/lsd_slam_core/package.xml' added:

	<build_depend>cmake_modules</build_depend>
	<run_depend>cmake_modules</run_depend> 

• in catkin_ws/src/lsd_slam/lsd_slam_viewer/package.xml add:

   <build_depend>cmake_modules</build_depend>
   <run_depend>cmake_modules</run_depend> 

• in catkin_ws/src/lsd_slam/lsd_slam_viewer/CMakeFiles.txt add:

	find_package(cmake_modules REQUIRED)
	
	add_dependencies(viewer lsd_slam_viewer_generate_messages_cpp)

• in catkin_ws/src/lsd_slam/lsd_slam_core/CMakeFiles.txt add:

	find_package(cmake_modules REQUIRED)
	change the following line:
	target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsparse X11) 
	add the X11
	
	add_dependencies(lsdslam lsd_slam_viewer_generate_messages_cpp)
	add_dependencies(live_slam lsd_slam_viewer_generate_messages_cpp)
	add_dependencies(dataset lsd_slam_viewer_generate_messages_cpp)

Verify the succesfulness of the compilation by checking that the C++ are able to link to executables.

There may be some warning in the process.