Nothing is displayed in PointcloudViewer.

[Neoplanetz]

Hello. I follow your instruction for installing LSD-SLAM with ROS Kinetic. Install for LSD-SLAM is perfect with no error. But, when I run lsd-slam with default rosbag play LSD_room.bag, I can't see anything in PointCloudViewer.

This is my commands:

1. rosrun lsd_slam_viewer viewer (work fine)
2. rosrun lsd_slam_core live_slam /image:=/cama/image_raw camera_info:=/camera_info
3. rosbag play LSD_room.bag

I also saw your Usage for lsd-slam. first, cv_camera_node is executing webcam node. second, execute lsd slam core.

What part is wrong in my commands? How can I see point cloud data?

[kevin-george]

Hello, I haven't played around with the Viewer yet. I have been using it primarily to track the pose. The viewer grays out for me as well :(

[jsYangCode]

@kevin-george hello, i installed lsd-slam follow your instruction. but i can not use it as expect. i can not run the WIKI/Usage as follow. may you explain it? thank u. i also can not run the LSD_room.bag. may you give me some advice? thank u again!!!!

[jsYangCode]

@kevin-george I have use (roslaunch usb_cam usb_cam-test.launch) to run a node that publishs images on the topic usb_cam.(use the camera on my PC)

PARAMETERS

• /image_view/autosize: True
• /rosdistro: kinetic
• /rosversion: 1.12.12
• /usb_cam/camera_frame_id: usb_cam
• /usb_cam/image_height: 480
• /usb_cam/image_width: 640
• /usb_cam/io_method: mmap
• /usb_cam/pixel_format: yuyv
• /usb_cam/video_device: /dev/video0

NODES / image_view (image_view/image_view) usb_cam (usb_cam/usb_cam_node)

[kevin-george]

@Young532042725 Have you tried viewing the topic /lsd_slam/pose ?

[jsYangCode]

@kevin-george hello,How to viewing the topic /lsd_slam/pose ? (rostopic list?) What does this mean(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)? Does it can use camera on my PC? Dear, Friend, please give me a hand! what is your E-mail?

[kevin-george]

You would use the command rostopic echo /lsd_slam/pose Please go through a ROS tutorial before you proceed. It will be difficult for you to navigate the SLAM landscape if you want to use ROS packages without any familiarity :)

[Irenedvs]

I made the following code changes for the lsd_viewer to display the point cloud .It also solved the Qt issue I was facing. The issue was found to be in the ImageDisplay_OpenCV.cpp file , including the details of the code change I made. File : lsd_slam/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp Made changes on line 119 and 125 Changed : return cv::waitKey(milliseconds); to return 1; A catkin_make later your good to go

[kevin-george]

Hey @Irenedvs , Can you create a PR with this change? That way I can credit you for fixing this :)

[Irenedvs]

made the PR @kevin-george :)

[EnriqueSolarte]

I made the following code changes for the lsd_viewer to display the point cloud .It also solved the Qt issue I was facing. The issue was found to be in the ImageDisplay_OpenCV.cpp file , including the details of the code change I made. File : lsd_slam/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp Made changes on line 119 and 125 Changed : return cv::waitKey(milliseconds); to return 1; A catkin_make later your good to go

The changing in the witting function has solved my problem. Thank you so much