Ubuntu16.04+ROS+usb_cam运行DSO(Direct Sparse Odometry)

在下载dos_ros_catkin在编译出错解决方案
修改cmakefiles.txt文件代码如下:
cmake_minimum_required(VERSION 2.4.6)
project(dso_ros)

find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
sensor_msgs
cv_bridge
)

set(DSO_PATH KaTeX parse error: Expected 'EOF', got '\n' at position 25: …ATH}) message("\̲n̲\n---- LOOKING …{DSO_PATH}"")

find_package(Pangolin 0.2 REQUIRED)
message("\n\n---- FOUND Pangolin Headers at\n"KaTeX parse error: Can't use function '\"' in math mode at position 24: …n_INCLUDE_DIRS}\̲"̲") message("---…{Pangolin_LIBRARIES}"")

message("--- found PANGOLIN, compiling dso_pangolin library.")
set(dso_pangolin_SOURCE_FILES 
  ${DSO_PATH}/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp
  ${DSO_PATH}/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
set(HAS_PANGOLIN 1)

find_package(OpenCV REQUIRED)
message("\n\n---- FOUND OpenCV Headers at\n"KaTeX parse error: Can't use function '\"' in math mode at position 22: …V_INCLUDE_DIRS}\̲"̲") message("---…{OpenCV_LIBS}"")

message("--- found OpenCV, compiling dso_opencv library.")
include_directories( ${OpenCV_INCLUDE_DIRS} )
set(dso_opencv_SOURCE_FILES 
  ${DSO_PATH}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
  ${DSO_PATH}/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)
set(HAS_OPENCV 1)

find_package(Eigen3 REQUIRED) ## This line is replaced by the following four lines

find_package(PkgConfig)
pkg_search_module(Eigen3 REQUIRED eigen3)
set(EIGEN3_INCLUDE_DIR “KaTeX parse error: Expected 'EOF', got '\n' at position 37: …R}" ) message("\̲n̲\n---- FOUND Ei…{EIGEN3_INCLUDE_DIR}”")

find_package(Boost COMPONENTS system thread)
find_library(DSO_LIBRARY dso ${DSO_PATH}/build/lib)

catkin_package(
CATKIN_DEPENDS
geometry_msgs
roscpp
sensor_msgs
cv_bridge
)

###########

Build

###########

set(CMAKE_CXX_FLAGS
“${SSE_FLAGS} -O3 -g -std=c++0x -march=native”

“${SSE_FLAGS} -O2 -g -std=c++0x -fno-omit-frame-pointer”

)

Sources files

set(dso_SOURCE_FILES
${DSO_PATH}/src/FullSystem/FullSystem.cpp
${DSO_PATH}/src/FullSystem/FullSystemOptimize.cpp
${DSO_PATH}/src/FullSystem/FullSystemOptPoint.cpp
${DSO_PATH}/src/FullSystem/FullSystemDebugStuff.cpp
${DSO_PATH}/src/FullSystem/FullSystemMarginalize.cpp
${DSO_PATH}/src/FullSystem/Residuals.cpp
${DSO_PATH}/src/FullSystem/CoarseTracker.cpp
${DSO_PATH}/src/FullSystem/CoarseInitializer.cpp
${DSO_PATH}/src/FullSystem/ImmaturePoint.cpp
${DSO_PATH}/src/FullSystem/HessianBlocks.cpp
${DSO_PATH}/src/FullSystem/PixelSelector2.cpp
${DSO_PATH}/src/OptimizationBackend/EnergyFunctional.cpp
${DSO_PATH}/src/OptimizationBackend/AccumulatedTopHessian.cpp
${DSO_PATH}/src/OptimizationBackend/AccumulatedSCHessian.cpp
${DSO_PATH}/src/OptimizationBackend/EnergyFunctionalStructs.cpp
${DSO_PATH}/src/util/settings.cpp
${DSO_PATH}/src/util/Undistort.cpp
${DSO_PATH}/src/util/globalCalib.cpp
)

include_directories(
${PROJECT_SOURCE_DIR}/src
${DSO_PATH}/src
${DSO_PATH}/thirdparty/Sophus
${OpenCV_INCLUDE_DIRS}
${Pangolin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)

include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR})
add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})

Declare a C++ executable

add_executable(dso_live src/main.cpp)

target_link_libraries(dso_live dso boost_system boost_thread cxsparse
${DSO_LIBRARY}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${catkin_LIBRARIES})