1、编译
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8
2、运行(在build文件夹下)
./okvis_app_synchronous ~/DYT/SLAM/code/opt/libvisensor/okvis-master/config/config_okvis_50_20.yaml ~/DYT/SLAM/code/opt/libvisensor/dataset-room2_512_16/mav0/