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1.DSO安装

1.1.源码下载

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

1.2.依赖安装

1.2.1.suitesparse and eigen3

sudo apt-get install libsuitesparse-dev libeigen3-dev

1.2.2.OpenCV





sudo apt-get install libopencv-dev

1.2.3.Pangolin

Install from https://github.com/stevenlovegrove/Pangolin

1.2.4.ziplib

sudo apt-get install zlib1g-dev
cd 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).

1.3.源码安装

cd dso_beta
    mkdir build
    cd build
    cmake ..
    make -j

1.4.程序运行

使用方法：

    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

示例：

sequence_11
bin/dso_dataset \
    files=~/Downloads/Dataset/TUM/Mono_VO/sequence_11/images.zip \
    calib=~/Downloads/Dataset/TUM/Mono_VO/sequence_11/camera.txt \
    gamma=~/Downloads/Dataset/TUM/Mono_VO/sequence_11/pcalib.txt \
    vignette=~/Downloads/Dataset/TUM/Mono_VO/sequence_11/vignette.png \
    preset=0 \
    mode=0

2.DSO_ROS安装

2.1.源码下载

由于非ROS版的dso做了修改，所以，下面的方法将会出现错误：

cd ~/catkin_ws/src  #catkin Workspace
git clone -b catkin https://github.com/LinHuican/dso_ros

因此，修改为如下代码：

cd ~/catkin_ws/src  #catkin Workspace
git clone -b catkin https://github.com/JakobEngel/dso_ros

2.2.源码安装

To set a correct DSO_PATH, adjust the line in CMakeLists.txt: set(i.e. DSO_PATH /home/qianglv/dso)

cd ..
catkin_make

2.3.运行程序

原来的运行方式：

cd src/dso_ros/examples
    sh dso_live.sh

修改后的运行指令：

rosrun dso_ros dso_live image:=image_raw \
	calib=XXXXX/camera.txt \
	gamma=XXXXX/pcalib.txt \
	vignette=XXXXX/vignette.png \

示例：

rosrun dso_ros dso_live image:=webcam/image_raw calib=/home/qianglv/catkin_ws/src/dso_ros/examples/camera.txt mode=0

3.结果示例

最后，我自己的摄像机进行测试：