If tracking / mapping quality is poor, try decreasing the keyframe thresholds KFUsageWeight and KFDistWeight slightly to generate more keyframes.Adjust minUseGrad and cameraPixelNoise to fit the sensor-noise and intensity contrast of your camera.The scene should contain sufficient structure (intensity gradient at different depths). During initialization, it is best to move the camera in a circle parallel to the image without rotating it.Rotation around the optical axis does not cause any problems. Generally sideways motion is best - depending on the field of view of your camera, forwards / backwards motion is equally good. Further it requires sufficient camera translation: Rotating the camera without translating it at the same time will not work. LSD-SLAM is a monocular SLAM system, and as such cannot estimate the absolute scale of the map.We recommend an image resolution of 640x480, significantly higher or lower resolutions may require some hard-coded parameters to be adapted.For our experiments, we used between 30 and 60 fps. Use a high framerate, at least 30fps (depending on the movements speed of course).Use a lens with a wide field-of-view (we use a 130° fisheye lens).Using a rolling shutter will lead to inferior results. Nice visualization, however bad for performance and bandwidth. continuousPCOutput: Publish current keyframe's point cloud after each update, to be seen in the viewer.Nice visualization of what's going on, however drastically decreases tracking speed.
lsd_slam_core contains the full SLAM system, whereas lsd_slam_viewer is optionally used for 3D visualization. LSD-SLAM is split into two ROS packages, lsd_slam_core and lsd_slam_viewer. We suggest to use the 2.4.8 version, to assure compatibility with the current indigo open-cv package.
You need to get a full version of OpenCV with nonfree module, which is easiest by compiling your own version.
Note for Ubuntu 14.04: The packaged OpenCV for Ubuntu 14.04 does not include the nonfree module, which is required for openFabMap (which requires SURF features). #add_subdirectory($/thirdparty/openFabMap/include)