ubuntu16.04 运行Stereo DSO

####仅作为笔记
环境：
ubuntu16.04
###注意该算法是地平线公司的团队复现版本，原论文作者并未开源

1. 依赖

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

2. Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd pangolin
mkdir build
cd build
cmake ..
make -j4
sudo make install

3. 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).

4. 安装Stereo DSO

git clone https://github.com/HorizonAD/stereo_dso.git
cd stereo_dso
mkdir build
cd build
cmake ..
make -j4

5. 运行

#数据集下载：http://www.cvlibs.net/datasets/kitti/eval_odometry.php
bin/dso_dataset \
	files=XXXXX/sequence_XX \
	calib=XXXXX/sequence_XX/para/camera.txt \
	gamma=XXXXX/sequence_XX/para/pcalib.txt \
	vignette=XXXXX/sequence_XX/para/vignette.png \
	preset=0 \
	mode=1

#举个例子
bin/dso_dataset \
	files=XXXXX/sequence_XX \
	calib=XXXXX/sequence_XX/para/camera.txt \
	preset=0 \
	mode=1

#参数解释：
#files：数据集图片压缩包
#calib：相机内参数文件
#gamma和vignette：相机的一些特性参数，光度标定文件。
#preset：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。
#mode：DSO模式切换，如０为包含光度标定文件，１为只包含内参数，２为没有畸变参数

#最后记住双目的相机标定参数文件和单目的略有不同，参照github：
https://github.com/HorizonAD/stereo_dso

6. 测试结果