ubuntu16.04 運作LDSO

####僅作為筆記

環境：Ubuntu 16.04及以上

Eigen3、glog、gtest、Suitesparse、OpenCV、libzip

1. 依賴

#主要用以下指令安裝依賴
./install_dependencies.sh
           

貼出install_dependencies.sh的内容：

sudo apt-get install libeigen3-dev libgoogle-glog-dev libgtest-dev libsuitesparse-dev libopencv-dev libzip-dev libboost-all-dev
           

1. Pangolin

#依賴
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libpython2.7-dev
sudo apt install pkg-config
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt install libdc1394-22-dev libraw1394-dev
sudo apt install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
#安裝Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4 && sudo make install
           

1. 安裝

./make_project.sh
           

貼出make_project.sh的内容：

#!/usr/bin/env bash

BUILD_TYPE=Release
NUM_PROC=4

BASEDIR="$PWD"

cd "$BASEDIR/thirdparty/DBoW3"
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
make -j$NUM_PROC

cd "$BASEDIR/thirdparty/g2o"
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
make -j$NUM_PROC

cd "$BASEDIR"
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
make -j$NUM_PROC
           

1. 測試

##TUM-Mono資料集  https://vision.in.tum.de/data/datasets/mono-dataset?redirect=1
./bin/run_dso_tum_mono \
    preset=0 \
    files=XXXXX/TUMmono/sequences/sequence_34/images.zip \
    vignette=XXXXX/TUMmono/sequences/sequence_34/vignette.png \
    calib=XXXXX/TUMmono/sequences/sequence_34/camera.txt \
    gamma=XXXXX/TUMmono/sequences/sequence_34/pcalib.txt

##kitti資料集 http://www.cvlibs.net/datasets/kitti/eval_odometry.php
./bin/run_dso_kitti \
    preset=0 \
    files=XXXXX/Kitti/odometry/dataset/sequences/00/ \
    calib=./examples/Kitti/Kitti00-02.txt

##EuRoc資料集 https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
./bin/run_dso_euroc \
    preset=0 \
    files=XXXX/EuRoC/MH_01_easy/mav0/cam0/
           

1. 測試結果