1.下载

https://github.com/JakobEngel/dso

2.安装依赖

sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev
sudo apt-get install libopencv-dev
Pangolin Install from https://github.com/stevenlovegrove/Pangolin

2.1安装Pangolin

https://blog.csdn.net/u012986684/article/details/52860849

代码我们可以从Github 进行下载：https://github.com/stevenlovegrove/Pangolin
一般我们按照一个库的时候，都需要依赖其他的库才行。
一般有Glew、CMake、 Boost 、Python2/Python3

按照以下步骤即可（根据自己实际情况，你也直接复制粘贴以下命令）：
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

如果以上都安装完之后，现在我们就可以按照 Pangolin（其实就是cmake+make)
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j

--------------------- 
原文：https://blog.csdn.net/u012986684/article/details/52860849

错误：https://blog.csdn.net/u012986684/article/details/52860849

2.1安装ziplib用以读取.zip文件，不安装则解压直接读取文件夹

sudo apt-get install zlib1g-dev 
cd thirdparty #找到DSO所在文件路径，切换到thirdparty文件夹下 
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

（若先编译了DSO再安装ziplib，需要重新编译一次DSO）

3.编译DSO

要有足够内存

cd /home/hyj/DSO/dso 
mkdir build 
cd build 
cmake .. 
make -j

运行：(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

4.安装dso_ros

修改cmake.list中bin文件路径
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
如果不修改，编译生成的bin将会存在build目录下，rosrun会找不到 (错误：Couldn't find executable named dso_live below /home/exbot/catkin_ws/src/dso_ros)（修改后要删掉根目录的build重新catkin_make）

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/JakobEngel/dso_ros.git
export DSO_PATH=/home/wu/depends/dso/
cd ..
catkin_make

在~/catkin_ws/  source /devel/setep.bash
rosmake dso_ros

错误：ubuntu16.04会因为boot报错，转ubuntu14.04

5、安装运行dso_pcl

（保存建图结果为.pcd到文件系统）

mkdir build
cd build
cmake ..
make -j4

运行命令：

./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 sampleoutput=1

DSO/dso_ros