求助：教程（18）无法找到dso_live (已结帖)

[山中客]

在练习教程18 使用DSO_SLAM进行三维建模 时，遇到问题求助：

前面DSO的编译和安装是完全按照教程进行的，但是最后rosrun dso_ros dso_live 时报错：

xiaoqiang@xiaoqiang-desktop:~/Documents/ros/src/dso_ros$ rosrun dso_ros dso_live image:=/camera_node/image_raw calib=/home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt mode=1

[rosrun] Couldn’t find executable named dso_live below /home/xiaoqiang/Documents/ros/src/dso_ros

[山中客]

删掉ros/build 目录后，重新编译，
再次执行rosrun dso_ros dso_live, 错误类型变成了：
could not parse argument “mode=1”!!

========================================
loading calibration from /home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt!
could not parse argument “mode=1”!!
MODE WITH CALIBRATION, but without exposure times!
Reading Calibration from file /home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt … found!
found RadTan (OpenCV) camera model, building rectifier.
Creating RadTan undistorter
Input resolution: 640 480
In: 367.720384 369.850464 312.163378 222.327969 -0.302804 0.080163 0.001972 -0.000586
Out: Rectify Crop
Output resolution: 640 480
finding CROP optimal new model!
initial range: x: -1.1532 - 1.2409; y: -0.6982 - 0.8408!
iteration 00001: range: x: -1.1475 - 1.2347; y: -0.6982 - 0.8408!
iteration 00002: range: x: -1.1417 - 1.2285; y: -0.6982 - 0.8408!
iteration 00003: range: x: -1.1360 - 1.2224; y: -0.6982 - 0.8408!
iteration 00004: range: x: -1.1360 - 1.2224; y: -0.6947 - 0.8366!
iteration 00005: range: x: -1.1360 - 1.2224; y: -0.6912 - 0.8324!
iteration 00006: range: x: -1.1360 - 1.2224; y: -0.6912 - 0.8324!

Rectified Kamera Matrix:
270.95 0 307.8
0 314.369 217.307
0 0 1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file
PhotometricUndistorter: Could not open file!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
START PANGOLIN!
terminate called after throwing an instance of ‘std::runtime_error’
what(): Pangolin X11: Failed to open X display
Aborted (core dumped)

[山中客]

@山中客 在 求助：教程（18）无法找到dso_live 中说：

Pangolin X11: Failed to open X display
Aborted

这个原因找到了，最后的Pangolin X11: Failed to open X display
Aborted (core dumped)，是由于在ssh 下pangolin 无法显示图像。

整个问题实际上在重编ROS 后解决的，另外dso_ros dso_live 不能通过ssh 执行，需要直接在小强主机或VNC 环境下执行。

问题close.