Update reamde, change ImageRW_OpenCV file and add utils

[IldarGreat]

No description provided.

[JohnKJung]

I'm having issues with running Pangolin.
I built the docker image using

git clone https://github.com/IldarGreat/dso.git
docker build . -t ildarthegreat/dso

ran it, and got this message

Emulate Docker CLI using podman. Create /etc/containers/nodocker to quiet msg.
loading data from set/sequence!
loading calibration from set/camera.txt!
PHOTOMETRIC MODE WITH PERFECT IMAGES!

=============== PRESET Settings: ===============
DEFAULT settings:
- no  real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
NO MultiThreading!
PLAYBACK SPEED 0.000000!
could not parse argument "nogui=false"!!!!
Reading Calibration from file set/camera.txt ... found!
found ATAN camera model, building rectifier.
Creating FOV undistorter
Input resolution: 1280 1024
In: 0.349153 0.436593 0.493140 0.499021 0.933271


Found fx=0.349153, fy=0.436593, cx=0.493140, cy=0.499021.
 I'm assuming this is the "relative" calibration file format,and will rescale this by image width / height to fx=446.915840, fy=447.071232, cx=630.719200, cy=510.497504.

Out: 0.400000 0.530000 0.500000 0.500000 0.000000
Output resolution: 640 480

Rectified Kamera Matrix:
  256     0 319.5
    0 254.4 239.5
    0     0     1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file 
PhotometricUndistorter: Could not open file!
got 2100 images and 2100 timestamps and 2100 exposures.!
ImageFolderReader: got 2100 files in set/sequence!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
START PANGOLIN!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Pangolin X11: Failed to open X display
Aborted (core dumped)

[IldarGreat]

I'm having issues with running Pangolin. I built the docker image using

git clone https://github.com/IldarGreat/dso.git
docker build . -t ildarthegreat/dso

ran it, and got this message

Emulate Docker CLI using podman. Create /etc/containers/nodocker to quiet msg.
loading data from set/sequence!
loading calibration from set/camera.txt!
PHOTOMETRIC MODE WITH PERFECT IMAGES!

=============== PRESET Settings: ===============
DEFAULT settings:
- no  real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
NO MultiThreading!
PLAYBACK SPEED 0.000000!
could not parse argument "nogui=false"!!!!
Reading Calibration from file set/camera.txt ... found!
found ATAN camera model, building rectifier.
Creating FOV undistorter
Input resolution: 1280 1024
In: 0.349153 0.436593 0.493140 0.499021 0.933271


Found fx=0.349153, fy=0.436593, cx=0.493140, cy=0.499021.
 I'm assuming this is the "relative" calibration file format,and will rescale this by image width / height to fx=446.915840, fy=447.071232, cx=630.719200, cy=510.497504.

Out: 0.400000 0.530000 0.500000 0.500000 0.000000
Output resolution: 640 480

Rectified Kamera Matrix:
  256     0 319.5
    0 254.4 239.5
    0     0     1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file 
PhotometricUndistorter: Could not open file!
got 2100 images and 2100 timestamps and 2100 exposures.!
ImageFolderReader: got 2100 files in set/sequence!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
START PANGOLIN!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Pangolin X11: Failed to open X display
Aborted (core dumped)

You want to run docker container DSO with Pangolin through the terminal. This is not possible, you will not be able to route Pangolin frames through the terminal. This docker image was created only to receive result.txt file and work with it.
If you want to use Pangolin, then use this script https://github.com/IldarGreat/dso/blob/master/builddso.bash (FIrst, change second line to you user, then run it: sudo bash builddso.bash) it will install Pangolin and DSO on your system.