ROS与VSLAM入门教程-DSO安装

ROS与VSLAM入门教程-DSO安装

说明:

  • 介绍如何安装DSO

下载DSO库:

  • 新建目录
mkdir ~/DSO 
  • 下载
cd ~/DSO 
git clone https://github.com/JakobEngel/dso.git

安装必要依赖:

  • 安装suitesparse和igen3:
sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev

安装可选依赖:

  • 安装OpenCV,推荐
sudo apt-get install libopencv-dev
  • 或源码安装

  • 安装Pangolin,推荐,安装参考https://github.com/stevenlovegrove/Pangolin

  • 安装ziplib :

sudo apt-get install zlib1g-dev
cd dso/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).
  • 安装sse2neon (required for ARM builds)
git submodule update --init
  • 在~/DSO/dso 目录里执行

编译DSO:

  • 编译:
cd dso
mkdir build
cd build
cmake ..
make -j

安装DSO_ROS包:

  • 添加配置DSO路径,更换[PATH_TO_DSO]为实际的路径
export DSO_PATH=[PATH_TO_DSO]/dso
  • 下载编译:
mkdir ~/DSO/src
cd ~/DSO/src
git clone https://github.com/JakobEngel/dso_ros
cd ..
rosmake
  • 运行测试:
rosrun dso_ros dso_live image:=image_raw \
       calib=XXXXX/camera.txt \
       gamma=XXXXX/pcalib.txt \
       vignette=XXXXX/vignette.png \

利用摄像头测试:

  • 启动摄像头:
roslaunch usb_cam webcam.launch 
  • 执行:
rosrun dso_ros dso_live image:=/usb_cam/image_raw calib=/xxxx/DSO/camera.txt mode=1

TUM单目数据集测试:

  • 下载数据集https://vision.in.tum.de/mono-dataset
  • 执行命令:
cd /xxxx_to_dso/dso/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
  • files为数据集图片压缩包
  • calib为相机内参数文件
  • gamma和vignette为相机的一些特性参数,光度标定文件
  • mode为DSO模式切换,如0为包含光度表达文件,1为只包含内参数,2为没有畸变参数.
  • preset为设定DSO运行时的参数,如选取的像素点个数等等。
  • preset=3是preset=0的5倍速运行DSO。

参考:

  • https://github.com/JakobEngel/dso
  • https://github.com/JakobEngel/dso_ros
  • https://vision.in.tum.de/research/vslam/dso?redirect=1
  • http://blog.csdn.net/heyijia0327/article/details/53173146

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标签: ros与vslam入门教程