编译安装DSO并在线运行摄像头

操作系统：Ubuntu16.04

数据集：https://vision.in.tum.de/data/datasets/mono-dataset?redirect=1 

摄像头：笔记本摄像头

1. 当然，先下载源码：

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

2. 安装相应的依赖项

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

最好将ziplib装上(下载的源码里有安装包)，因为在运行数据集的时候，可以直接读取.zip文件。在libzip解压文件下，敲下面几行命令：

$ ./configure
$ make
$ sudo make install
$ sudo cp lib/zipconf.h /usr/local/include/zipconf.h  

3. 安装DSO,在dso文件下输入：

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

/usr/bin/ld: CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o: undefined reference to symbol 'pthread_create@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/dso_dataset.dir/build.make:139: recipe for target 'bin/dso_dataset' failed
make[2]: *** [bin/dso_dataset] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dso_dataset.dir/all' failed
make[1]: *** [CMakeFiles/dso_dataset.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

解决方案： 修改CMakeLists.txt有关于Thread，首先在CMakeLists.txt中添加一条：

FIND_PACKAGE(Threads QUIET)

然后将：

if (OpenCV_FOUND AND Pangolin_FOUND)
  	message("--- compiling dso_dataset.")
  	add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
   target_link_libraries(dso_dataset dso boost_system boost_thread cxsparse ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} )
else()
  	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
endif()

改为：

if (OpenCV_FOUND AND Pangolin_FOUND)
  	message("--- compiling dso_dataset.")
  	add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
    target_link_libraries(dso_dataset dso boost_system boost_thread cxsparse ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${CMAKE_THREAD_LIBS_INIT})
else()
  	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
endif()

然后重新编译：

$ cmake ..
$ make -j

4. 启动数据集,在安装了OpenCV和Pangolin的前提下，在命令行输入：

 $ ~/dso/build/bin/dso_dataset \
files=PATH/sequence_14/images.zip \
calib=PATH/sequence_14/camera.txt \
gamma=PATH/sequence_14/pcalib.txt \
vignette=PATH/sequence_14/vignette.png \
preset=0 \
mode=0

5.下面在线跑自己的摄像头，我们需要dso_ros (catkin版本),下载地址：https://github.com/JakobEngel/dso_ros/tree/catkin

此时需要电脑中安装了ROS，安装步骤可以参考另一篇博文：

http://blog.csdn.net/qq_17232031/article/details/79519308

将下载的文件放置在catkin_ws/src目录下，执行：

$ cd ~/catkin_ws
$ catkin_make
$ cd ./src/dso_ros
$ export DSO_PATH=PATH/dso
$ rosmake

一样的，PATH为自己安装dso的路径，注意是dso路径，不是dso_ros路径！！！

6. 在第一个终端中执行：

$ roscore

第二个终端，在usb_cam/lauch路径下执行：

roslaunch usb_cam usb_cam-test.launch 

第三个终端就要执行runros操作了：

rosrun dso_ros dso_live image:=/usb_cam/image_raw calib=PATH/camera.txt mode=1

其中，PATH为自己的相机标定文件的路径。

不出意外，就能在线运行自己的摄像头了。

参考：https://github.com/JakobEngel/dso