1 使用 .bag文件
roscore
//打開ros
rosrun lsd_slam_viewer viewer
//打開點暈視圖
rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info
//採用實時slam
rosbag play LSD_room.bag
//打開bag文件
2 使用 .png圖片集
roscore
rosrun lsd_slam_viewer viewer
rosrun lsd_slam_core dataset_slam _files:=/home/bdf/rosbuild_ws/LSD_room/images _hz:=0 _calib:=/home/bdf/rosbuild_ws/LSD_room/cameraCalibration.cfg
问题：QObject::startTimer: Timers cannot be started from another thread
解决:lsd_slam_core/src/util/settings.cpp: bool displayDepthMap = false;