/dso2

simplified version of dso, only 2 threads are left, fix a bug existing in initialization process

Primary LanguageC++

dso2

This is a simplified version of dso, only 2 threads are left, and a bug existing in initialization process is fixed.

Environment

  • Ubuntu 18.04
  • Cmake 3.10.2
  • g++ 7.4.0
  • OpenCV 4.1.0
  • Pangolin
  • Eigen3
  • PkgConfig 0.29.1
  • ziplib
  • SuiteSparse

Build

  1. build the repo
    $git clone git@github.com:qqadssp/dso2  
    $cd dso2/build  
    $cmake ..  
    $make
  1. run
    $dso_main calib=./tumrgb/freiburg2.txt

Datasets: Please download the imagedata(such as tum rgbd freiburg2_desk) and change the path in dso_main.cpp.

Demo