pi-gslam / gslam_dso

The GSLAM plugin for DSO (Direct Sparse Odometer) implementation

GSLAM-DSO

1. Introduction

This code is the DSO plugin implementation base on GSLAM.

2. Build and Install

2.1. Build and Install GSLAM

git clone https://github.com/zdzhaoyong/GSLAM

2.2. Build and Install GSLAM-DSO

mkdir build;
cd build;
cmake .. -DCMAKE_BUILD_TYPE=Release;
make;
sudo make install

3. Run DSO with gslam

gslam qviz dso play -dataset /Dataset/TUM/RGBD/rgbd_dataset_freiburg3_structure_texture_far/.tumrgbd -autostart