1.下载
https://github.com/JakobEngel/dso
2.安装依赖
sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev
sudo apt-get install libopencv-dev
Pangolin Install from https://github.com/stevenlovegrove/Pangolin
2.1安装Pangolin
https://blog.csdn.net/u012986684/article/details/52860849
代码我们可以从Github 进行下载:https://github.com/stevenlovegrove/Pangolin
一般我们按照一个库的时候,都需要依赖其他的库才行。
一般有Glew、CMake、 Boost 、Python2/Python3
按照以下步骤即可(根据自己实际情况,你也直接复制粘贴以下命令):
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
如果以上都安装完之后,现在我们就可以按照 Pangolin(其实就是cmake+make)
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
---------------------
原文:https://blog.csdn.net/u012986684/article/details/52860849
错误:https://blog.csdn.net/u012986684/article/details/52860849
2.1安装ziplib用以读取.zip文件,不安装则解压直接读取文件夹
sudo apt-get install zlib1g-dev
cd thirdparty #找到DSO所在文件路径,切换到thirdparty文件夹下
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
(若先编译了DSO再安装ziplib,需要重新编译一次DSO)
3.编译DSO
要有足够内存
cd /home/hyj/DSO/dso
mkdir build
cd build
cmake ..
make -j
运行:(build/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
4.安装dso_ros
修改cmake.list中bin文件路径
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
如果不修改,编译生成的bin将会存在build目录下,rosrun会找不到 (错误:Couldn't find executable named dso_live below /home/exbot/catkin_ws/src/dso_ros)(修改后要删掉根目录的build重新catkin_make)
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/JakobEngel/dso_ros.git
export DSO_PATH=/home/wu/depends/dso/
cd ..
catkin_make
在~/catkin_ws/ source /devel/setep.bash
rosmake dso_ros
错误:ubuntu16.04会因为boot报错,转ubuntu14.04
5、安装运行dso_pcl
(保存建图结果为.pcd到文件系统)
mkdir build
cd build
cmake ..
make -j4
运行命令:
./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 sampleoutput=1