svo2.0 svo pro 编译运行

sudo apt-get install python-catkin-tools python-vcstool

unable to locate python-vcstool  

添加ros源 然后sudo apt update

依赖库下载，查看dependencies.yaml文件：

逐个clone到src目录下即可

dbow2_catkin 编译出错：

把https://github.com/dorian3d/DBoW2 clone下来，把里面的文件 复制到/svo_ws/build/dbow2_catkin/dbow2_src-prefix/src/dbow2_src/src下

/svo_ws/src/dbow2_catkin/CMakeLists.txt 中的GIT_REPOSITORY https://github.com/dorian3d/DBoW2.git 注释掉

数据集

https://download.ifi.uzh.ch/rpg/web/datasets/airground_rig_s3_2013-03-18_21-38-48.bag

https://download.ifi.uzh.ch/rpg/web/datasets/test_fisheye.bag