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..tar.gz
cd libzip-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= \
mode=
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
