Ubuntu16.04搭建和运行DSO

DSO的GitHub链接：https://github.com/JakobEngel/dso

本博客基于VMware搭建的Ubuntu16.04实现DSO

1、克隆DSO

sudo apt install git

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

2、搭配环境 eigen3

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

opencv

sudo apt install libopencv-dev

Pangolin

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

克隆

git clone https://github.com/stevenlovegrove/Pangolin.git

安装Pangolin需要的依赖项：

tar -zxvf Pangolin.tar.gz

编译和安装Pangolin

cd [path-to-pangolin]mkdir buildcd buildcmake ..makesudo make install

ziplib

sudo apt-get install zlib1g-devcd dso/thirdpartytar -zxvf libzip-1.1.1.tar.gzcd libzip-1.1.1/./configuremakesudo make installsudo cp lib/zipconf.h /usr/local/include/zipconf.h # (no idea why that is needed).

3、编译DSO

cd dsomkdir buildcd buildcmake ..make -j4

4、make可能出现的错误 错误一

virtual memory exhausted: 无法分配内存CMakeFiles/dso.dir/build.make:62: recipe for target 'CMakeFiles/dso.dir/src/FullSystem/FullSystem.cpp.o' failedmake[2]: *** [CMakeFiles/dso.dir/src/FullSystem/FullSystem.cpp.o] Error 1make[2]: *** 正在等待未完成的任务....CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/dso.dir/all' failedmake[1]: *** [CMakeFiles/dso.dir/all] Error 2Makefile:83: recipe for target 'all' failedmake: *** [all] Error 2

解决方法：
将make -j4该低点 ，改成make -j2

错误二

[ 96%] linking CXX executable bin/dso_dataset/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 linecollect2: error: ld returned 1 exit statusCMakeFiles/dso_dataset.dir/build.make:129: recipe for target 'bin/dso_dataset' failedmake[2]: *** [bin/dso_dataset] Error 1CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dso_dataset.dir/all' failedmake[1]: *** [CMakeFiles/dso_dataset.dir/all] Error 2Makefile:83: recipe for target 'all' failedmake: *** [all] Error 2

解决方法：
参考博客：https://blog.csdn.net/qq_17232031/article/details/79540286
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 -j2

5、运行数据集

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

输入以下内容；但是导致了报错

原因：没有解压


所以我们先加压一下；解压suquence_14和里面的images，并删除压缩文件
输入：

./dso_dataset files=./sequence_14/images calib=./sequence_14/camera.txt gamma=./sequence_14/pcalib.txt vignette=./sequence_14/vignette.png preset=0 mode=0

又报了以下错误：

原因：Pangolin没有装好；重新安装Pangolin；参考https://blog.csdn.net/qq_39236499/article/details/122722038里面的Pangolin报错解决方法，两个是一模一样的错误

再次输入上面指令！成功！！！

参考博客

https://blog.csdn.net/qq_17232031/article/details/79540286
https://blog.csdn.net/qq_37568167/article/details/106384458
https://blog.csdn.net/qq_39236499/article/details/109010081
https://blog.csdn.net/weixin_40941966/article/details/107408299