Reimplementation of Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016 (https://github.com/JakobEngel/dso)
if used in a publication please consider citing: Upcoming publication
for commercial use and additional functionality contact Roadly (en@road.ly)
You need to clone this repositor first.
git clone git@github.com:RoadlyInc/DSOPP.git
cd DSOPP
Without Docker [Not recommended]
Note that this is not a recommended way to build this code. Even if you want to extend it and take part in a development process, many modern IDEs give you an opportunity to develp inside a docker contatiner. This section is more of an outline of the build process. If you encounter any problems please open an issue.
Be sure that python3 is installed on your machine.
It is recommended to exploit python virtual environments for each external project not to mess up your system's python dependecies.
To install virtualenv package:
pip3 install virtualenv
To create a virtual environment run the following command
python3 -m venv dsopp_venv
And to activate:
source dsopp_venv/bin/activate
Now depending on your shell settings, you might see (e) dsopp_venv in your terminal line.
From the root of this repository run:
pip3 install -r requirements.txt
If you are on ubuntu or debian system:
apt install cmake libboost-all-dev graphviz doxygen libgl1-mesa-dev libglew-dev
apt install git-lfs libprotobuf-dev protobuf-compiler libhdf5-dev libfreetype6-dev
apt install libtbb-dev openexr libavcodec-dev libavformat-dev libswscale-dev
apt install libavutil-dev clang sed gawk clang-10 zlib1g clang-format-10 ninja-build
apt install wget ffmpeg libeigen3-dev libsuitesparse-dev lcov python2
Note: This package names are valid for ubuntu 18.04 and 20.04.
To use clang-format-10 as clang-format add following to your .bashrc file:
alias clang-format='clang-fromat-10'
For installation on other systems, please find the alternative name of each package above in your package manager.
You need to install at least g++-10 compiler. For ubuntu it could be done via:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y
sudo apt-get update
sudo apt -y install g++-10
You would need to pass -DCMAKE_CXX_COMPILER=g++-10 to cmake
It is recommended ot use one of recent cmake versions. It could be installed via:
wget https://cmake.org/files/v3.17/cmake-3.17.0-Linux-x86_64.tar.gz
tar xvf cmake-3.17.0-Linux-x86_64.tar.gz
cd cmake-3.17.0-Linux-x86_64
sudo cp -r bin /usr/
sudo cp -r share /usr/
sudo cp -r doc /usr/share/
sudo cp -r man /usr/share/
cd ..
rm -rf cmake*
Note that this would overwrite you system's cmake. As an alternative you can us it directly from untared directory.
Docker [recommended]
Docker is a great way to run a code within specific environment on any machine. To install docker on ubuntu or debian:
sudo apt install docker
After installation docker group should be created and added to user.
sudo groupadd docker
sudo usermod -aG docker $USER
Log out after running the above commands.
Now cd to docker/ubuntu/ and run the following command to build an image
docker image build -t dsopp:main --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .
To connect to dsopp:main image and use gui docker should be added to xhost
xhost local:docker
And following command to open shell inside dsopp:main image in the current directory:
docker run --rm -it -v /tmp/.X11-unix:/tmp/.X11-unix -e HOME=$HOME --net=host -e DISPLAY=$DISPLAY -w $(pwd) -v $HOME:$HOME --device=/dev/dri:/dev/dri -it dsopp:main bash
Using virtualenv or form docker image in root directory of this repo:
mkdir build;
cd build;
cmake .. -DCMAKE_BUILD_TYPE=Release;
make -j;
Remember passing -DCMAKE_CXX_COMPILER=g++-10 to cmake if your default compiler version is less than 10.
To run tests test data should be downloaded
navigate to ./test
sh download_test_data.sh
cd build;
ctest .;
To run on synthetic sequence (./test/test_data/track30seconds/)
./build/src/application/dsopp_main
To run on TUMMONO dataset:
naviagate to ./test/test_data/tummono/
sh download_data.sh (sequence id)
navigate to .
./build/src/application/dsopp_main --config_file_path ./test/test_data/tummono/sequence_<id>/<standart/fast/dense>.yaml
dsopp_main outputs track.bin file. This is the whole track output with points and all frame poses.
To view it use viewer_main application
./build/src/application/viewer_main track.bin