cd ~/lib_dso/dso
mkdir build && cd build
cmake ..
make -j4
在git上下载dso_ros2，修改cmakelists.txt中lib目录,dso_ros.cpp,cmakelists文件。创建自己相机的camera.txt,并在dso_ros.cpp中修改为自己calibration文件的地址。修改~/slam算法/dso_ros2/src/dso_ros2/dso/CMakeLists.txt中line 37：set(DSO PATH ...)。全部修改好后再编译dso_ros2。
source工作空间后，先启动相机，再通过命令ros2 run dso dso_ros image:=/camera/color/image_raw model:=1运行即可。在树莓派上，通过包的方式运行成功。
lib_dso方法运行：先下载tum的单目数据集，再cd到dso的build目录下使用如下命令运行dso：
cd ~/lib_dso/dso/build/bin
./dso_dataset \
files=~/slam-dataset/sequence_01/images.zip \
calib=~/slam-dataset/sequence_01/camera.txt \
gamma=~/slam-dataset/sequence_01/pcalib.txt \
vignette=~/slam-dataset/sequence_01/vignette.png \
preset=0 \
mode=0
cd ~/slam算法/dso_ros2
. install/setup.bash
ros2 run dso dso_ros image:=camera/rgb/image_color model:=1
# new terminal
cd ~/slam-dataset
ros2 bag play rgbd
