1  使用 .bag檔案

roscore

//開啟ros

rosrun lsd_slam_viewer viewer

//開啟點暈檢視

rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info

//採用實時slam

rosbag play LSD_room.bag

//開啟bag檔案

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

問題：QObject::startTimer: Timers cannot be started from another thread

解決:lsd_slam_core/src/util/settings.cpp: bool displayDepthMap = false;