DSO光度标定程序配置和使用

光度标定原理详见：

DSO之光度标定

一、项目地址

https://github.com/tum-vision/mono_dataset_code

对应论文《A Photometrically Calibrated Benchmark For Monocular Visual Odometry》

二、安装

1.下载源码

git clone https://github.com/tum-vision/mono_dataset_code.git

2.安装Eigen和OpenCV

sudo apt-get install libeigen3-dev libopencv-dev

3.安装zip文件解析库

sudo apt-get install zlib1g-dev
 
cd mono_dataset_code/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aruco marker dection ，用来标定渐晕

安装教程转自（科学上网）：http://maztories.blogspot.de/2013/07/installing-aruco-augmented-reality.html

cd mono_dataset_code/thirdparty
tar -zxvf aruco-1.3.0.tar.gz
cd aruco-1.3.0/
mkdir build
cd build
cmake ..
make
sudo make install

5.编译主程序

cd mono_dataset_code
cmake . && make

三、准备数据

所需数据格式参考 src/BenchmarkDatasetReader.h

相机参数文件格式参考 src/