ubuntu16.04下安装运行DSO

1.下载源码

git clone https://github.com/JakobEngel/dso.git

2.安装依赖项

suitesparse and eigen3 (required).

sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev

3.可选依赖项

OpenCV (highly recommended).

sudo apt-get install libopencv-dev

Pangolin (highly recommended).

安装教程

https://www.cnblogs.com/feifanrensheng/p/8781219.html

ziplib (recommended).

sudo apt-get install zlib1g-dev
cd dso/thirdparty
tar -zxvf libzip-1.1.1.tar.gz
cd libzip-1.1.1/
./configure
make
sudo make install
sudo cp lib/zipconf.h /usr/local/include/zipconf.h   # (no idea why that is needed).

4.编译

cd dso
mkdir build
cd build
cmake ..
make -j4

编译成功会得到lib/libdso.a和bin/dso_dataset

5.运行

Run on a dataset from https://vision.in.tum.de/mono-dataset using

    bin/dso_dataset 
        files=XXXXX/sequence_XX/images.zip 
        calib=XXXXX/sequence_XX/camera.txt 
        gamma=XXXXX/sequence_XX/pcalib.txt 
        vignette=XXXXX/sequence_XX/vignette.png 
        preset=0 
        mode=0

从https://vision.in.tum.de/mono-dataset下载任意一个单目序列

把序列名及文件路径改为你自己的

运行界面如下所示