diff --git a/.gitignore b/.gitignore
index 52de1ff5de..627674fd28 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,9 +19,11 @@ Examples/Stereo-Inertial/stereo_inertial_euroc
 Examples/Stereo-Inertial/stereo_inertial_tum_vi
 
 Examples/ROS/ORB_SLAM3/Mono
+Examples/ROS/ORB_SLAM3/Mono_Inertial
 Examples/ROS/ORB_SLAM3/MonoAR
 Examples/ROS/ORB_SLAM3/RGBD
 Examples/ROS/ORB_SLAM3/Stereo
+Examples/ROS/ORB_SLAM3/Stereo_Inertial
 
 Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
 Examples/ROS/ORB_SLAM3/build/
diff --git a/Examples/RGB-D/TUM1.yaml b/Examples/RGB-D/TUM1.yaml
index 717bc36de0..7100039eab 100644
--- a/Examples/RGB-D/TUM1.yaml
+++ b/Examples/RGB-D/TUM1.yaml
@@ -33,7 +33,7 @@ Camera.RGB: 1
 ThDepth: 40.0
 
 # Deptmap values factor 
-DepthMapFactor: 5000.0
+DepthMapFactor: 5000.0 # 1.0 for ROS_bag
 
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
diff --git a/Examples/ROS/ORB_SLAM3/CMakeLists.txt b/Examples/ROS/ORB_SLAM3/CMakeLists.txt
index 1e2000b422..12792fe44b 100644
--- a/Examples/ROS/ORB_SLAM3/CMakeLists.txt
+++ b/Examples/ROS/ORB_SLAM3/CMakeLists.txt
@@ -45,6 +45,7 @@ include_directories(
 ${PROJECT_SOURCE_DIR}
 ${PROJECT_SOURCE_DIR}/../../../
 ${PROJECT_SOURCE_DIR}/../../../include
+${PROJECT_SOURCE_DIR}/../../../include/CameraModels
 ${Pangolin_INCLUDE_DIRS}
 )
 
@@ -55,6 +56,7 @@ ${Pangolin_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
 ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
+-lboost_system
 )
 
 # Node for monocular camera
@@ -95,3 +97,20 @@ target_link_libraries(RGBD
 ${LIBS}
 )
 
+# Node for monocular-inertial camera
+rosbuild_add_executable(Mono_Inertial
+src/ros_mono_inertial.cc
+)
+
+target_link_libraries(Mono_Inertial
+${LIBS}
+)
+
+# Node for stereo-inertial camera
+rosbuild_add_executable(Stereo_Inertial
+src/ros_stereo_inertial.cc
+)
+
+target_link_libraries(Stereo_Inertial
+${LIBS}
+)
diff --git a/Examples/ROS/ORB_SLAM3/manifest.xml b/Examples/ROS/ORB_SLAM3/manifest.xml
index b40564f796..79e6e6fce9 100644
--- a/Examples/ROS/ORB_SLAM3/manifest.xml
+++ b/Examples/ROS/ORB_SLAM3/manifest.xml
@@ -1,18 +1,14 @@
 <package>
-  <description brief="ORB_SLAM2">
-
-     ORB_SLAM2
-
+  <description brief="ORB_SLAM3">
+     ORB_SLAM3
   </description>
-  <author>Raul Mur-Artal</author>
+  <author>Carlos Campos, Richard Elvira, Juan J. Gomez, Jose M.M. Montiel, Juan D. Tardos</author>
   <license>GPLv3</license>
   <depend package="roscpp"/>
   <depend package="tf"/>
   <depend package="sensor_msgs"/>
   <depend package="image_transport"/>
   <depend package="cv_bridge"/>
-
-
 </package>
 
 
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc
index 86a300a6aa..b0baa6f0be 100644
--- a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc
@@ -26,7 +26,7 @@
 
 using namespace std;
 
-namespace ORB_SLAM2
+namespace ORB_SLAM3
 {
 
 const float eps = 1e-4;
@@ -233,7 +233,7 @@ void ViewerAR::Run()
 
 }
 
-void ViewerAR::SetImagePose(const cv::Mat &im, const cv::Mat &Tcw, const int &status, const vector<cv::KeyPoint> &vKeys, const vector<ORB_SLAM2::MapPoint*> &vMPs)
+void ViewerAR::SetImagePose(const cv::Mat &im, const cv::Mat &Tcw, const int &status, const vector<cv::KeyPoint> &vKeys, const vector<ORB_SLAM3::MapPoint*> &vMPs)
 {
     unique_lock<mutex> lock(mMutexPoseImage);
     mImage = im.clone();
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h
index 85071a23ce..675d301fa0 100644
--- a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h
@@ -26,7 +26,7 @@
 #include <string>
 #include"../../../include/System.h"
 
-namespace ORB_SLAM2
+namespace ORB_SLAM3
 {
 
 class Plane
@@ -62,7 +62,7 @@ class ViewerAR
         mT=1e3/fps;
     }
 
-    void SetSLAM(ORB_SLAM2::System* pSystem){
+    void SetSLAM(ORB_SLAM3::System* pSystem){
         mpSystem = pSystem;
     }
 
@@ -82,7 +82,7 @@ class ViewerAR
 private:
 
     //SLAM
-    ORB_SLAM2::System* mpSystem;
+    ORB_SLAM3::System* mpSystem;
 
     void PrintStatus(const int &status, const bool &bLocMode, cv::Mat &im);
     void AddTextToImage(const std::string &s, cv::Mat &im, const int r=0, const int g=0, const int b=0);
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc b/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
index 5d896280b7..334403a100 100644
--- a/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
@@ -35,7 +35,7 @@
 using namespace std;
 
 
-ORB_SLAM2::ViewerAR viewerAR;
+ORB_SLAM3::ViewerAR viewerAR;
 bool bRGB = true;
 
 cv::Mat K;
@@ -45,11 +45,11 @@ cv::Mat DistCoef;
 class ImageGrabber
 {
 public:
-    ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){}
+    ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
 
     void GrabImage(const sensor_msgs::ImageConstPtr& msg);
 
-    ORB_SLAM2::System* mpSLAM;
+    ORB_SLAM3::System* mpSLAM;
 };
 
 int main(int argc, char **argv)
@@ -59,13 +59,13 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
         ros::shutdown();
         return 1;
     }
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,false);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,false);
 
 
     cout << endl << endl;
@@ -118,7 +118,7 @@ int main(int argc, char **argv)
         DistCoef.at<float>(4) = k3;
     }
 
-    thread tViewer = thread(&ORB_SLAM2::ViewerAR::Run,&viewerAR);
+    thread tViewer = thread(&ORB_SLAM3::ViewerAR::Run,&viewerAR);
 
     ros::spin();
 
@@ -150,7 +150,7 @@ void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
     cv::Mat imu;
     cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
     int state = mpSLAM->GetTrackingState();
-    vector<ORB_SLAM2::MapPoint*> vMPs = mpSLAM->GetTrackedMapPoints();
+    vector<ORB_SLAM3::MapPoint*> vMPs = mpSLAM->GetTrackedMapPoints();
     vector<cv::KeyPoint> vKeys = mpSLAM->GetTrackedKeyPointsUn();
 
     cv::undistort(im,imu,K,DistCoef);
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_mono.cc b/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
index 95ce36f246..2cdfde0a14 100644
--- a/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
+++ b/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
@@ -34,11 +34,11 @@ using namespace std;
 class ImageGrabber
 {
 public:
-    ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){}
+    ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
 
     void GrabImage(const sensor_msgs::ImageConstPtr& msg);
 
-    ORB_SLAM2::System* mpSLAM;
+    ORB_SLAM3::System* mpSLAM;
 };
 
 int main(int argc, char **argv)
@@ -48,18 +48,18 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
         ros::shutdown();
         return 1;
     }    
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,true);
 
     ImageGrabber igb(&SLAM);
 
     ros::NodeHandle nodeHandler;
-    ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
+    ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 100, &ImageGrabber::GrabImage,&igb);
 
     ros::spin();
 
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_mono_inertial.cc b/Examples/ROS/ORB_SLAM3/src/ros_mono_inertial.cc
new file mode 100644
index 0000000000..85d02925ed
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/ros_mono_inertial.cc
@@ -0,0 +1,194 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+*
+* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
+* License as published by the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
+* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include<iostream>
+#include<algorithm>
+#include<fstream>
+#include<chrono>
+#include<vector>
+#include<queue>
+#include<thread>
+#include<mutex>
+
+#include<ros/ros.h>
+#include<cv_bridge/cv_bridge.h>
+#include<sensor_msgs/Imu.h>
+
+#include<opencv2/core/core.hpp>
+
+#include"../../../include/System.h"
+#include"../include/ImuTypes.h"
+
+using namespace std;
+
+class ImuGrabber
+{
+public:
+    ImuGrabber(){};
+    void GrabImu(const sensor_msgs::ImuConstPtr &imu_msg);
+
+    queue<sensor_msgs::ImuConstPtr> imuBuf;
+    std::mutex mBufMutex;
+};
+
+class ImageGrabber
+{
+public:
+    ImageGrabber(ORB_SLAM3::System* pSLAM, ImuGrabber *pImuGb, const bool bClahe): mpSLAM(pSLAM), mpImuGb(pImuGb), mbClahe(bClahe){}
+
+    void GrabImage(const sensor_msgs::ImageConstPtr& msg);
+    cv::Mat GetImage(const sensor_msgs::ImageConstPtr &img_msg);
+    void SyncWithImu();
+
+    queue<sensor_msgs::ImageConstPtr> img0Buf;
+    std::mutex mBufMutex;
+   
+    ORB_SLAM3::System* mpSLAM;
+    ImuGrabber *mpImuGb;
+
+    const bool mbClahe;
+    cv::Ptr<cv::CLAHE> mClahe = cv::createCLAHE(3.0, cv::Size(8, 8));
+};
+
+
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "Mono_Inertial");
+  ros::NodeHandle n("~");
+  ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);
+  bool bEqual = false;
+  if(argc < 3 || argc > 4)
+  {
+    cerr << endl << "Usage: rosrun ORB_SLAM3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
+    ros::shutdown();
+    return 1;
+  }
+
+
+  if(argc==4)
+  {
+    std::string sbEqual(argv[3]);
+    if(sbEqual == "true")
+      bEqual = true;
+  }
+
+  // Create SLAM system. It initializes all system threads and gets ready to process frames.
+  ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR,true);
+
+  ImuGrabber imugb;
+  ImageGrabber igb(&SLAM,&imugb,bEqual); // TODO
+  
+  // Maximum delay, 5 seconds
+  ros::Subscriber sub_imu = n.subscribe("/imu", 1000, &ImuGrabber::GrabImu, &imugb); 
+  ros::Subscriber sub_img0 = n.subscribe("/camera/image_raw", 100, &ImageGrabber::GrabImage,&igb);
+
+  std::thread sync_thread(&ImageGrabber::SyncWithImu,&igb);
+
+  ros::spin();
+
+  return 0;
+}
+
+
+
+void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr &img_msg)
+{
+  mBufMutex.lock();
+  img0Buf.push(img_msg);
+  mBufMutex.unlock();
+}
+
+cv::Mat ImageGrabber::GetImage(const sensor_msgs::ImageConstPtr &img_msg)
+{
+  // Copy the ros image message to cv::Mat.
+  cv_bridge::CvImageConstPtr cv_ptr;
+  try
+  {
+    cv_ptr = cv_bridge::toCvShare(img_msg, sensor_msgs::image_encodings::MONO8);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("cv_bridge exception: %s", e.what());
+  }
+  
+  if(cv_ptr->image.type()==0)
+  {
+    return cv_ptr->image.clone();
+  }
+  else
+  {
+    std::cout << "Error type" << std::endl;
+    return cv_ptr->image.clone();
+  }
+}
+
+void ImageGrabber::SyncWithImu()
+{
+  while(1)
+  {
+    cv::Mat im;
+    double tIm = 0;
+    if (!img0Buf.empty()&&!mpImuGb->imuBuf.empty())
+    {
+      tIm = img0Buf.front()->header.stamp.toSec();
+      if(tIm>mpImuGb->imuBuf.back()->header.stamp.toSec())
+          continue;
+      {
+      this->mBufMutex.lock();
+      im = GetImage(img0Buf.front());
+      img0Buf.pop();
+      this->mBufMutex.unlock();
+      }
+
+      vector<ORB_SLAM3::IMU::Point> vImuMeas;
+      mpImuGb->mBufMutex.lock();
+      if(!mpImuGb->imuBuf.empty())
+      {
+        // Load imu measurements from buffer
+        vImuMeas.clear();
+        while(!mpImuGb->imuBuf.empty() && mpImuGb->imuBuf.front()->header.stamp.toSec()<=tIm)
+        {
+          double t = mpImuGb->imuBuf.front()->header.stamp.toSec();
+          cv::Point3f acc(mpImuGb->imuBuf.front()->linear_acceleration.x, mpImuGb->imuBuf.front()->linear_acceleration.y, mpImuGb->imuBuf.front()->linear_acceleration.z);
+          cv::Point3f gyr(mpImuGb->imuBuf.front()->angular_velocity.x, mpImuGb->imuBuf.front()->angular_velocity.y, mpImuGb->imuBuf.front()->angular_velocity.z);
+          vImuMeas.push_back(ORB_SLAM3::IMU::Point(acc,gyr,t));
+          mpImuGb->imuBuf.pop();
+        }
+      }
+      mpImuGb->mBufMutex.unlock();
+      if(mbClahe)
+        mClahe->apply(im,im);
+
+      mpSLAM->TrackMonocular(im,tIm,vImuMeas);
+    }
+
+    std::chrono::milliseconds tSleep(1);
+    std::this_thread::sleep_for(tSleep);
+  }
+}
+
+void ImuGrabber::GrabImu(const sensor_msgs::ImuConstPtr &imu_msg)
+{
+  mBufMutex.lock();
+  imuBuf.push(imu_msg);
+  mBufMutex.unlock();
+  return;
+}
+
+
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc b/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc
index ae18150f70..cb68d76b6e 100644
--- a/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc
+++ b/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc
@@ -37,11 +37,11 @@ using namespace std;
 class ImageGrabber
 {
 public:
-    ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){}
+    ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
 
     void GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD);
 
-    ORB_SLAM2::System* mpSLAM;
+    ORB_SLAM3::System* mpSLAM;
 };
 
 int main(int argc, char **argv)
@@ -51,20 +51,20 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM2 RGBD path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun ORB_SLAM3 RGBD path_to_vocabulary path_to_settings" << endl;        
         ros::shutdown();
         return 1;
     }    
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD,true);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::RGBD,true);
 
     ImageGrabber igb(&SLAM);
 
     ros::NodeHandle nh;
 
-    message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 1);
-    message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 100);
+    message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 100);
     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
     message_filters::Synchronizer<sync_pol> sync(sync_pol(10), rgb_sub,depth_sub);
     sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2));
@@ -106,7 +106,6 @@ void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const senso
         ROS_ERROR("cv_bridge exception: %s", e.what());
         return;
     }
-
     mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec());
 }
 
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM3/src/ros_stereo.cc
index 11063ce61a..574dc0a8c4 100644
--- a/Examples/ROS/ORB_SLAM3/src/ros_stereo.cc
+++ b/Examples/ROS/ORB_SLAM3/src/ros_stereo.cc
@@ -37,11 +37,11 @@ using namespace std;
 class ImageGrabber
 {
 public:
-    ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){}
+    ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
 
     void GrabStereo(const sensor_msgs::ImageConstPtr& msgLeft,const sensor_msgs::ImageConstPtr& msgRight);
 
-    ORB_SLAM2::System* mpSLAM;
+    ORB_SLAM3::System* mpSLAM;
     bool do_rectify;
     cv::Mat M1l,M2l,M1r,M2r;
 };
@@ -53,13 +53,13 @@ int main(int argc, char **argv)
 
     if(argc != 4)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM2 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
+        cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
         ros::shutdown();
         return 1;
     }    
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::STEREO,true);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::STEREO,true);
 
     ImageGrabber igb(&SLAM);
 
@@ -107,8 +107,8 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
 
-    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
-    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "camera/right/image_raw", 1);
+    message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 100);
+    message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/camera/right/image_raw", 100);
     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
     message_filters::Synchronizer<sync_pol> sync(sync_pol(10), left_sub,right_sub);
     sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2));
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc b/Examples/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc
new file mode 100644
index 0000000000..07cd68c715
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc
@@ -0,0 +1,282 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+*
+* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
+* License as published by the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
+* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include<iostream>
+#include<algorithm>
+#include<fstream>
+#include<chrono>
+#include<vector>
+#include<queue>
+#include<thread>
+#include<mutex>
+
+#include<ros/ros.h>
+#include<cv_bridge/cv_bridge.h>
+#include<sensor_msgs/Imu.h>
+
+#include<opencv2/core/core.hpp>
+
+#include"../../../include/System.h"
+#include"../include/ImuTypes.h"
+
+using namespace std;
+
+class ImuGrabber
+{
+public:
+    ImuGrabber(){};
+    void GrabImu(const sensor_msgs::ImuConstPtr &imu_msg);
+
+    queue<sensor_msgs::ImuConstPtr> imuBuf;
+    std::mutex mBufMutex;
+};
+
+class ImageGrabber
+{
+public:
+    ImageGrabber(ORB_SLAM3::System* pSLAM, ImuGrabber *pImuGb, const bool bRect, const bool bClahe): mpSLAM(pSLAM), mpImuGb(pImuGb), do_rectify(bRect), mbClahe(bClahe){}
+
+    void GrabImageLeft(const sensor_msgs::ImageConstPtr& msg);
+    void GrabImageRight(const sensor_msgs::ImageConstPtr& msg);
+    cv::Mat GetImage(const sensor_msgs::ImageConstPtr &img_msg);
+    void SyncWithImu();
+
+    queue<sensor_msgs::ImageConstPtr> imgLeftBuf, imgRightBuf;
+    std::mutex mBufMutexLeft,mBufMutexRight;
+   
+    ORB_SLAM3::System* mpSLAM;
+    ImuGrabber *mpImuGb;
+
+    const bool do_rectify;
+    cv::Mat M1l,M2l,M1r,M2r;
+
+    const bool mbClahe;
+    cv::Ptr<cv::CLAHE> mClahe = cv::createCLAHE(3.0, cv::Size(8, 8));
+};
+
+
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "Stereo_Inertial");
+  ros::NodeHandle n("~");
+  ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);
+  bool bEqual = false;
+  if(argc < 4 || argc > 5)
+  {
+    cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
+    ros::shutdown();
+    return 1;
+  }
+
+  std::string sbRect(argv[3]);
+  if(argc==5)
+  {
+    std::string sbEqual(argv[4]);
+    if(sbEqual == "true")
+      bEqual = true;
+  }
+
+  // Create SLAM system. It initializes all system threads and gets ready to process frames.
+  ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_STEREO,true);
+
+  ImuGrabber imugb;
+  ImageGrabber igb(&SLAM,&imugb,sbRect == "true",bEqual);
+  
+    if(igb.do_rectify)
+    {      
+        // Load settings related to stereo calibration
+        cv::FileStorage fsSettings(argv[2], cv::FileStorage::READ);
+        if(!fsSettings.isOpened())
+        {
+            cerr << "ERROR: Wrong path to settings" << endl;
+            return -1;
+        }
+
+        cv::Mat K_l, K_r, P_l, P_r, R_l, R_r, D_l, D_r;
+        fsSettings["LEFT.K"] >> K_l;
+        fsSettings["RIGHT.K"] >> K_r;
+
+        fsSettings["LEFT.P"] >> P_l;
+        fsSettings["RIGHT.P"] >> P_r;
+
+        fsSettings["LEFT.R"] >> R_l;
+        fsSettings["RIGHT.R"] >> R_r;
+
+        fsSettings["LEFT.D"] >> D_l;
+        fsSettings["RIGHT.D"] >> D_r;
+
+        int rows_l = fsSettings["LEFT.height"];
+        int cols_l = fsSettings["LEFT.width"];
+        int rows_r = fsSettings["RIGHT.height"];
+        int cols_r = fsSettings["RIGHT.width"];
+
+        if(K_l.empty() || K_r.empty() || P_l.empty() || P_r.empty() || R_l.empty() || R_r.empty() || D_l.empty() || D_r.empty() ||
+                rows_l==0 || rows_r==0 || cols_l==0 || cols_r==0)
+        {
+            cerr << "ERROR: Calibration parameters to rectify stereo are missing!" << endl;
+            return -1;
+        }
+
+        cv::initUndistortRectifyMap(K_l,D_l,R_l,P_l.rowRange(0,3).colRange(0,3),cv::Size(cols_l,rows_l),CV_32F,igb.M1l,igb.M2l);
+        cv::initUndistortRectifyMap(K_r,D_r,R_r,P_r.rowRange(0,3).colRange(0,3),cv::Size(cols_r,rows_r),CV_32F,igb.M1r,igb.M2r);
+    }
+
+  // Maximum delay, 5 seconds
+  ros::Subscriber sub_imu = n.subscribe("/imu", 1000, &ImuGrabber::GrabImu, &imugb); 
+  ros::Subscriber sub_img_left = n.subscribe("/camera/left/image_raw", 100, &ImageGrabber::GrabImageLeft,&igb);
+  ros::Subscriber sub_img_right = n.subscribe("/camera/right/image_raw", 100, &ImageGrabber::GrabImageRight,&igb);
+
+  std::thread sync_thread(&ImageGrabber::SyncWithImu,&igb);
+
+  ros::spin();
+
+  return 0;
+}
+
+
+
+void ImageGrabber::GrabImageLeft(const sensor_msgs::ImageConstPtr &img_msg)
+{
+  mBufMutexLeft.lock();
+  imgLeftBuf.push(img_msg);
+  mBufMutexLeft.unlock();
+}
+
+void ImageGrabber::GrabImageRight(const sensor_msgs::ImageConstPtr &img_msg)
+{
+  mBufMutexRight.lock();
+  imgRightBuf.push(img_msg);
+  mBufMutexRight.unlock();
+}
+
+cv::Mat ImageGrabber::GetImage(const sensor_msgs::ImageConstPtr &img_msg)
+{
+  // Copy the ros image message to cv::Mat.
+  cv_bridge::CvImageConstPtr cv_ptr;
+  try
+  {
+    cv_ptr = cv_bridge::toCvShare(img_msg, sensor_msgs::image_encodings::MONO8);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("cv_bridge exception: %s", e.what());
+  }
+  
+  if(cv_ptr->image.type()==0)
+  {
+    return cv_ptr->image.clone();
+  }
+  else
+  {
+    std::cout << "Error type" << std::endl;
+    return cv_ptr->image.clone();
+  }
+}
+
+void ImageGrabber::SyncWithImu()
+{
+  const double maxTimeDiff = 0.01;
+  while(1)
+  {
+    cv::Mat imLeft, imRight;
+    double tImLeft = 0, tImRight = 0;
+    if (!imgLeftBuf.empty()&&!imgRightBuf.empty()&&!mpImuGb->imuBuf.empty())
+    {
+      tImLeft = imgLeftBuf.front()->header.stamp.toSec();
+      tImRight = imgRightBuf.front()->header.stamp.toSec();
+
+      this->mBufMutexRight.lock();
+      while((tImLeft-tImRight)>maxTimeDiff && imgRightBuf.size()>1)
+      {
+        imgRightBuf.pop();
+        tImRight = imgRightBuf.front()->header.stamp.toSec();
+      }
+      this->mBufMutexRight.unlock();
+
+      this->mBufMutexLeft.lock();
+      while((tImRight-tImLeft)>maxTimeDiff && imgLeftBuf.size()>1)
+      {
+        imgLeftBuf.pop();
+        tImLeft = imgLeftBuf.front()->header.stamp.toSec();
+      }
+      this->mBufMutexLeft.unlock();
+
+      if((tImLeft-tImRight)>maxTimeDiff || (tImRight-tImLeft)>maxTimeDiff)
+      {
+        // std::cout << "big time difference" << std::endl;
+        continue;
+      }
+      if(tImLeft>mpImuGb->imuBuf.back()->header.stamp.toSec())
+          continue;
+
+      this->mBufMutexLeft.lock();
+      imLeft = GetImage(imgLeftBuf.front());
+      imgLeftBuf.pop();
+      this->mBufMutexLeft.unlock();
+
+      this->mBufMutexRight.lock();
+      imRight = GetImage(imgRightBuf.front());
+      imgRightBuf.pop();
+      this->mBufMutexRight.unlock();
+
+      vector<ORB_SLAM3::IMU::Point> vImuMeas;
+      mpImuGb->mBufMutex.lock();
+      if(!mpImuGb->imuBuf.empty())
+      {
+        // Load imu measurements from buffer
+        vImuMeas.clear();
+        while(!mpImuGb->imuBuf.empty() && mpImuGb->imuBuf.front()->header.stamp.toSec()<=tImLeft)
+        {
+          double t = mpImuGb->imuBuf.front()->header.stamp.toSec();
+          cv::Point3f acc(mpImuGb->imuBuf.front()->linear_acceleration.x, mpImuGb->imuBuf.front()->linear_acceleration.y, mpImuGb->imuBuf.front()->linear_acceleration.z);
+          cv::Point3f gyr(mpImuGb->imuBuf.front()->angular_velocity.x, mpImuGb->imuBuf.front()->angular_velocity.y, mpImuGb->imuBuf.front()->angular_velocity.z);
+          vImuMeas.push_back(ORB_SLAM3::IMU::Point(acc,gyr,t));
+          mpImuGb->imuBuf.pop();
+        }
+      }
+      mpImuGb->mBufMutex.unlock();
+      if(mbClahe)
+      {
+        mClahe->apply(imLeft,imLeft);
+        mClahe->apply(imRight,imRight);
+      }
+
+      if(do_rectify)
+      {
+        cv::remap(imLeft,imLeft,M1l,M2l,cv::INTER_LINEAR);
+        cv::remap(imRight,imRight,M1r,M2r,cv::INTER_LINEAR);
+      }
+
+      mpSLAM->TrackStereo(imLeft,imRight,tImLeft,vImuMeas);
+
+      std::chrono::milliseconds tSleep(1);
+      std::this_thread::sleep_for(tSleep);
+    }
+  }
+}
+
+void ImuGrabber::GrabImu(const sensor_msgs::ImuConstPtr &imu_msg)
+{
+  mBufMutex.lock();
+  imuBuf.push(imu_msg);
+  mBufMutex.unlock();
+  return;
+}
+
+
diff --git a/README.md b/README.md
index ae626351fb..4a2f6bb4bd 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ORB-SLAM3
 
-### V0.2: Beta version, 21 Jul 2020
+### V0.3: Beta version, 7 Aug 2020
 **Authors:** Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, [José M. M. Montiel](http://webdiis.unizar.es/~josemari/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/).
 
 ORB-SLAM3 is the first real-time SLAM library able to perform **Visual, Visual-Inertial and Multi-Map SLAM** with **monocular, stereo and RGB-D** cameras, using **pin-hole and fisheye** lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate. 
@@ -10,7 +10,7 @@ We provide examples to run ORB-SLAM3 in the [EuRoC dataset](http://projects.asl.
 This software is based on [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) developed by [Raul Mur-Artal](http://webdiis.unizar.es/~raulmur/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/), [J. M. M. Montiel](http://webdiis.unizar.es/~josemari/) and [Dorian Galvez-Lopez](http://doriangalvez.com/) ([DBoW2](https://github.com/dorian3d/DBoW2)).
 
 <a href="https://youtu.be/HyLNq-98LRo" target="_blank"><img src="https://img.youtube.com/vi/HyLNq-98LRo/0.jpg" 
-alt="ORB-SLAM2" width="240" height="180" border="10" /></a>
+alt="ORB-SLAM3" width="240" height="180" border="10" /></a>
 
 ### Related Publications:
 
@@ -70,6 +70,10 @@ Required to calculate the alignment of the trajectory with the ground truth. **R
 * (deb) `sudo apt install libpython2.7-dev`
 * (mac) preinstalled with osx
 
+## ROS (optional)
+
+We provide some examples to process input of a monocular, monocular-inertial, stereo, stereo-inertial or RGB-D camera using ROS. Building these examples is optional. These have been tested with ROS Melodic under Ubuntu 18.04.
+
 # 3. Building ORB-SLAM3 library and examples
 
 Clone the repository:
@@ -126,3 +130,82 @@ Execute the following script to process sequences and compute the RMS ATE:
 ./tum_vi_eval_examples
 ```
 
+# 6. ROS Examples
+
+### Building the nodes for mono, mono-inertial, stereo, stereo-inertial and RGB-D
+Tested with ROS Melodic and ubuntu 18.04.
+
+1. Add the path including *Examples/ROS/ORB_SLAM3* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file:
+  ```
+  gedit ~/.bashrc
+  ```
+and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM3:
+
+  ```
+  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS
+  ```
+  
+2. Execute `build_ros.sh` script:
+
+  ```
+  chmod +x build_ros.sh
+  ./build_ros.sh
+  ```
+  
+### Running Monocular Node
+For a monocular input from topic `/camera/image_raw` run node ORB_SLAM3/Mono. You will need to provide the vocabulary file and a settings file. See the monocular examples above.
+
+  ```
+  rosrun ORB_SLAM3 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
+  ```
+
+### Running Monocular-Inertial Node
+For a monocular input from topic `/camera/image_raw` and an inertial input from topic `/imu`, run node ORB_SLAM3/Mono_Inertial. Setting the optional third argument to true will apply CLAHE equalization to images (Mainly for TUM-VI dataset).
+
+  ```
+  rosrun ORB_SLAM3 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE [EQUALIZATION]	
+  ```
+
+### Running Stereo Node
+For a stereo input from topic `/camera/left/image_raw` and `/camera/right/image_raw` run node ORB_SLAM3/Stereo. You will need to provide the vocabulary file and a settings file. For Pinhole camera model, if you **provide rectification matrices** (see Examples/Stereo/EuRoC.yaml example), the node will recitify the images online, **otherwise images must be pre-rectified**. For FishEye camera model, rectification is not required since system works with original images:
+
+  ```
+  rosrun ORB_SLAM3 Stereo PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION
+  ```
+
+### Running Stereo-Inertial Node
+For a stereo input from topics `/camera/left/image_raw` and `/camera/right/image_raw`, and an inertial input from topic `/imu`, run node ORB_SLAM3/Stereo_Inertial. You will need to provide the vocabulary file and a settings file, including rectification matrices if required in a similar way to Stereo case:
+
+  ```
+  rosrun ORB_SLAM3 Stereo_Inertial PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION [EQUALIZATION]	
+  ```
+  
+### Running RGB_D Node
+For an RGB-D input from topics `/camera/rgb/image_raw` and `/camera/depth_registered/image_raw`, run node ORB_SLAM3/RGBD. You will need to provide the vocabulary file and a settings file. See the RGB-D example above.
+
+  ```
+  rosrun ORB_SLAM3 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
+  ```
+
+**Running ROS example:** Download a rosbag (e.g. V1_02_medium.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab for a Stereo-Inertial configuration:
+  ```
+  roscore
+  ```
+  
+  ```
+  rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml true
+  ```
+  
+  ```
+  rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
+  ```
+  
+Once ORB-SLAM3 has loaded the vocabulary, press space in the rosbag tab.
+
+**Remark:** For rosbags from TUM-VI dataset, some play issue may appear due to chunk size. One possible solution is to rebag them with the default chunk size, for example:
+  ```
+  rosrun rosbag fastrebag.py dataset-room1_512_16.bag dataset-room1_512_16_small_chunks.bag
+  ```
+
+
+
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp b/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp
index 1fd5e42af8..067678f4a4 100644
--- a/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp
+++ b/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp
@@ -44,11 +44,11 @@ namespace g2o {
     OptimizationAlgorithmWithHessian(solver)
   {
     _currentLambda = -1.;
-    _tau = 1e-50; // Carlos: originally 1e-5
+    _tau = 1e-5; // Carlos: originally 1e-5
     _goodStepUpperScale = 2./3.;
     _goodStepLowerScale = 1./3.;
     _userLambdaInit = _properties.makeProperty<Property<double> >("initialLambda", 0.);
-    _maxTrialsAfterFailure = _properties.makeProperty<Property<int> >("maxTrialsAfterFailure", 100); // Carlos: Originally 10 iterations
+    _maxTrialsAfterFailure = _properties.makeProperty<Property<int> >("maxTrialsAfterFailure", 10); // Carlos: Originally 10 iterations
     _ni=2.;
     _levenbergIterations = 0;
     _nBad = 0;
diff --git a/include/G2oTypes.h b/include/G2oTypes.h
index d9ad707393..3f7113fbc1 100644
--- a/include/G2oTypes.h
+++ b/include/G2oTypes.h
@@ -676,9 +676,9 @@ class EdgeAccRW : public g2o::BaseBinaryEdge<3,Eigen::Vector3d,VertexAccBias,Ver
     virtual bool write(std::ostream& os) const{return false;}
 
     void computeError(){
-        const VertexGyroBias* VG1= static_cast<const VertexGyroBias*>(_vertices[0]);
-        const VertexGyroBias* VG2= static_cast<const VertexGyroBias*>(_vertices[1]);
-        _error = VG2->estimate()-VG1->estimate();
+        const VertexAccBias* VA1= static_cast<const VertexAccBias*>(_vertices[0]);
+        const VertexAccBias* VA2= static_cast<const VertexAccBias*>(_vertices[1]);
+        _error = VA2->estimate()-VA1->estimate();
     }
 
     virtual void linearizeOplus(){
diff --git a/src/Frame.cc b/src/Frame.cc
index 4ed93939f8..87814cd9cc 100644
--- a/src/Frame.cc
+++ b/src/Frame.cc
@@ -118,7 +118,6 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
 
 
     N = mvKeys.size();
-
     if(mvKeys.empty())
         return;
 
@@ -281,11 +280,6 @@ Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extra
     // Frame ID
     mnId=nNextId++;
 
-    // imGray(cv::Range(0,175),cv::Range(0,512)) = cv::Mat::zeros(cv::Size(512, 175),CV_8UC1);
-    // imGray(cv::Range(350,512),cv::Range(260,360)) = cv::Mat::zeros(cv::Size(100, 162),CV_8UC1);
-
-    // imGray = imGray(cv::Range(250,512),cv::Range(0,512)).clone();
-
     // Scale Level Info
     mnScaleLevels = mpORBextractorLeft->GetLevels();
     mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
@@ -308,7 +302,6 @@ Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extra
 
 
     N = mvKeys.size();
-
     if(mvKeys.empty())
         return;
 
@@ -344,6 +337,7 @@ Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extra
         mbInitialComputations=false;
     }
 
+
     mb = mbf/fx;
 
     //Set no stereo fisheye information
diff --git a/src/Optimizer.cc b/src/Optimizer.cc
index e32ed01cbb..c0624c916b 100644
--- a/src/Optimizer.cc
+++ b/src/Optimizer.cc
@@ -1678,11 +1678,6 @@ void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, vector<Ke
             vpNonEnoughOptKFs.push_back(pKFi);
         }
     }
-    //Verbose::PrintMess("LM-LBA: Num fixed cameras " + to_string(num_fixedKF), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("LM-LBA: Num Points " + to_string(lLocalMapPoints.size()), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("LM-LBA: Num optimized cameras " + to_string(lLocalKeyFrames.size()), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("----------", Verbose::VERBOSITY_DEBUG);
-
 
     //Points
     for(list<MapPoint*>::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++)
@@ -1733,29 +1728,12 @@ void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, Map* pMap
             if(pMP)
                 if(!pMP->isBad() && pMP->GetMap() == pCurrentMap)
                 {
-                    /*if(sNumObsMP.find(pMP) == sNumObsMP.end())
+
+                    if(pMP->mnBALocalForKF!=pKF->mnId)
                     {
-                        sNumObsMP.insert(pMP);
-                        int index_mp = pMP->GetIndexInKeyFrame(pKFi);
-                        if(pKFi->mvuRight[index_mp]>=0)
-                        {
-                            // Stereo, it has at least 2 observations by pKFi
-                            if(pMP->mnBALocalForKF!=pKF->mnId)
-                            {
-                                lLocalMapPoints.push_back(pMP);
-                                pMP->mnBALocalForKF=pKF->mnId;
-                            }
-                        }
+                        lLocalMapPoints.push_back(pMP);
+                        pMP->mnBALocalForKF=pKF->mnId;
                     }
-                    else
-                    {*/
-                        if(pMP->mnBALocalForKF!=pKF->mnId)
-                        {
-                            lLocalMapPoints.push_back(pMP);
-                            pMP->mnBALocalForKF=pKF->mnId;
-                        }
-                    //}
-
                 }
         }
     }
@@ -1872,10 +1850,6 @@ void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, Map* pMap
         if(pKFi->mnId>maxKFid)
             maxKFid=pKFi->mnId;
     }
-    //Verbose::PrintMess("LM-LBA: Fixed KFs added", Verbose::VERBOSITY_DEBUG);
-
-    //Verbose::PrintMess("LM-LBA: opt/fixed KFs: " + to_string(lLocalKeyFrames.size()) + "/" + to_string(lFixedCameras.size()), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("LM-LBA: local MPs: " + to_string(lLocalMapPoints.size()), Verbose::VERBOSITY_DEBUG);
 
     // Set MapPoint vertices
     const int nExpectedSize = (lLocalKeyFrames.size()+lFixedCameras.size())*lLocalMapPoints.size();
@@ -2182,21 +2156,8 @@ void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, Map* pMap
         bRedrawError = true;
         string folder_name = "test_LBA";
         string name = "_PreLM_LBA";
-        //pMap->printReprojectionError(lLocalKeyFrames, pKF, name, folder_name);
         name = "_PreLM_LBA_Fixed";
-        //pMap->printReprojectionError(lFixedCameras, pKF, name, folder_name);
-        /*for(size_t i=0, iend=vpEdgesMono.size(); i<iend;i++)
-        {
-            g2o::EdgeSE3ProjectXYZ* e = vpEdgesMono[i];
-            MapPoint* pMP = vpMapPointEdgeMono[i];
-
-            if(pMP->isBad())
-                continue;
-
-            Verbose::PrintMess("ERROR CHI2: " + to_string(e->chi2()) + "; DEPTH POSITIVE: " + to_string(e->isDepthPositive()), Verbose::VERBOSITY_NORMAL);
-        }*/
 
-        //return;
     }
 
 
@@ -2315,11 +2276,6 @@ void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, Map* pMap
             Verbose::PrintMess("LM-LBA: Bad observations in mono " + to_string(numBadMonoMP) +  " and stereo " + to_string(numBadStereoMP), Verbose::VERBOSITY_DEBUG);
         }
     }
-    //Verbose::PrintMess("LM-LBA: Num fixed cameras " + to_string(num_fixedKF), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("LM-LBA: Num Points " + to_string(lLocalMapPoints.size()), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("LM-LBA: Num optimized cameras " + to_string(lLocalKeyFrames.size()), Verbose::VERBOSITY_DEBUG);
-    //Verbose::PrintMess("----------", Verbose::VERBOSITY_DEBUG);
-
 
     //Points
     for(list<MapPoint*>::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++)
@@ -3932,8 +3888,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
 int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &vpMatches1, g2o::Sim3 &g2oS12, const float th2,
                             const bool bFixScale, Eigen::Matrix<double,7,7> &mAcumHessian, const bool bAllPoints)
 {
-    bool bShowImages = false;
-
     g2o::SparseOptimizer optimizer;
     g2o::BlockSolverX::LinearSolverType * linearSolver;
 
@@ -3944,12 +3898,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
     g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
     optimizer.setAlgorithm(solver);
 
-    // Calibration
-    const cv::Mat &K1 = pKF1->mK;
-    const cv::Mat &K2 = pKF2->mK;
-
-    //const cv::Mat &DistCoeff2 = pKF2->mDistCoef;
-
     // Camera poses
     const cv::Mat R1w = pKF1->GetRotation();
     const cv::Mat t1w = pKF1->GetTranslation();
@@ -3979,16 +3927,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
     vpEdges21.reserve(2*N);
     vbIsInKF2.reserve(2*N);
 
-    float cx1 = K1.at<float>(0,2);
-    float cy1 = K1.at<float>(1,2);
-    float fx1 = K1.at<float>(0,0);
-    float fy1 = K1.at<float>(1,1);
-
-    float cx2 = K2.at<float>(0,2);
-    float cy2 = K2.at<float>(1,2);
-    float fx2 = K2.at<float>(0,0);
-    float fy2 = K2.at<float>(1,1);
-
     const float deltaHuber = sqrt(th2);
 
     int nCorrespondences = 0;
@@ -3997,11 +3935,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
     int nOutKF2 = 0;
     int nMatchWithoutMP = 0;
 
-    cv::Mat img1 = cv::imread(pKF1->mNameFile, CV_LOAD_IMAGE_UNCHANGED);
-    cv::cvtColor(img1, img1, CV_GRAY2BGR);
-    cv::Mat img2 = cv::imread(pKF2->mNameFile, CV_LOAD_IMAGE_UNCHANGED);
-    cv::cvtColor(img2, img2, CV_GRAY2BGR);
-
     vector<int> vIdsOnlyInKF2;
 
     for(int i=0; i<N; i++)
@@ -4066,11 +3999,7 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
 
                 vIdsOnlyInKF2.push_back(id2);
             }
-
-            cv::circle(img1, pKF1->mvKeys[i].pt, 1, cv::Scalar(0, 0, 255));
-
             continue;
-
         }
 
         if(i2<0 && !bAllPoints)
@@ -4093,42 +4022,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
         obs1 << kpUn1.pt.x, kpUn1.pt.y;
 
         ORB_SLAM3::EdgeSim3ProjectXYZ* e12 = new ORB_SLAM3::EdgeSim3ProjectXYZ();
-        /*bool inKF1;
-        if(pMP1)
-        {
-            const cv::KeyPoint &kpUn1 = pKF1->mvKeysUn[i];
-            obs1 << kpUn1.pt.x, kpUn1.pt.y;
-
-            inKF1 = true;
-        }
-        else
-        {
-            float invz = 1/P3D1c.at<float>(2);
-            float x = P3D1c.at<float>(0)*invz;
-            float y = P3D1c.at<float>(1)*invz;
-
-            obs1 << x, y;
-            kpUn1 = cv::KeyPoint(cv::Point2f(x, y), pMP1->mnTrackScaleLevel);
-
-            inKF1 = false;
-        }*/
-
-        if(bShowImages) //TODO test to project the matched points in the image
-        {
-            cv::circle(img1, pKF1->mvKeys[i].pt, 1, cv::Scalar(0, 255, 0));
-
-            Eigen::Matrix<double,3,1> eigP3D2c = Converter::toVector3d(P3D2c);
-            Eigen::Matrix<double,3,1> eigP3D1c = g2oS12.map(eigP3D2c);
-            cv::Mat cvP3D1c = Converter::toCvMat(eigP3D1c);
-
-            float invz = 1/cvP3D1c.at<float>(2);
-            float x = fx1 * cvP3D1c.at<float>(0)*invz + cx1;
-            float y = fy1 * cvP3D1c.at<float>(1)*invz + cy1;
-
-            cv::Point2f ptProjPoint(x, y);
-            cv::line(img1, pKF1->mvKeys[i].pt, ptProjPoint, cv::Scalar(255, 0, 0), 1);
-        }
-
 
         e12->setVertex(0, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(id2)));
         e12->setVertex(1, dynamic_cast<g2o::OptimizableGraph::Vertex*>(optimizer.vertex(0)));
@@ -4152,11 +4045,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
             inKF2 = true;
 
             nInKF2++;
-
-            if(bShowImages)
-            {
-                cv::circle(img2, pKF2->mvKeys[i2].pt, 1, cv::Scalar(0, 255, 0));
-            }
         }
         else
         {
@@ -4164,52 +4052,11 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
             float x = P3D2c.at<float>(0)*invz;
             float y = P3D2c.at<float>(1)*invz;
 
-            /*cv::Mat mat(1,2,CV_32F);
-            mat.at<float>(0,0) = x;
-            mat.at<float>(0,1) = y;
-            mat=mat.reshape(2);
-            cv::undistortPoints(mat,mat,K2,DistCoeff2,cv::Mat(),K2);
-            mat=mat.reshape(1);
-
-            x = mat.at<float>(0,0);
-            y = mat.at<float>(0,1);*/
-
             obs2 << x, y;
             kpUn2 = cv::KeyPoint(cv::Point2f(x, y), pMP2->mnTrackScaleLevel);
 
             inKF2 = false;
             nOutKF2++;
-
-            if(bShowImages)
-            {
-                cv::circle(img2, kpUn2.pt, 1, cv::Scalar(0, 0, 255));
-            }
-
-            //TODO print projection, because all of them become in outliers
-
-
-
-            // Project in image and check it is not outside
-            //float u = pKF2->fx * x + pKF2->cx;
-            //float v = pKF2->fy * y + pKF2->cy;
-            //obs2 << u, v;
-            //kpUn2 = cv::KeyPoint(cv::Point2f(u, v), pMP2->mnTrackScaleLevel);
-        }
-
-        {
-            Eigen::Matrix<double,3,1> eigP3D1c = Converter::toVector3d(P3D1c);
-            Eigen::Matrix<double,3,1> eigP3D2c = g2oS12.inverse().map(eigP3D1c);
-            cv::Mat cvP3D2c = Converter::toCvMat(eigP3D2c);
-
-            float invz = 1/cvP3D2c.at<float>(2);
-            float x = fx2 * cvP3D2c.at<float>(0)*invz + cx2;
-            float y = fy2 * cvP3D2c.at<float>(1)*invz + cy2;
-
-            if(bShowImages)
-            {
-                cv::Point2f ptProjPoint(x, y);
-                cv::line(img2, kpUn2.pt, ptProjPoint, cv::Scalar(255, 0, 0), 1);
-            }
         }
 
         ORB_SLAM3::EdgeInverseSim3ProjectXYZ* e21 = new ORB_SLAM3::EdgeInverseSim3ProjectXYZ();
@@ -4269,13 +4116,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
         e12->setRobustKernel(0);
         e21->setRobustKernel(0);
     }
-    if(bShowImages)
-    {
-        string pathImg1 = "./test_OptSim3/KF_" + to_string(pKF1->mnId) + "_Main.jpg";
-        cv::imwrite(pathImg1, img1);
-        string pathImg2 = "./test_OptSim3/KF_" + to_string(pKF1->mnId) + "_Matched.jpg";
-        cv::imwrite(pathImg2, img2);
-    }
 
     Verbose::PrintMess("Sim3: First Opt -> Correspondences: " + to_string(nCorrespondences) + "; nBad: " + to_string(nBad) + "; nBadOutKF2: " + to_string(nBadOutKF2), Verbose::VERBOSITY_DEBUG);
 
@@ -4321,7 +4161,6 @@ int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector<MapPoint *> &
     //Verbose::PrintMess("Sim3: Initial seed " + g2oS12, Verbose::VERBOSITY_DEBUG);
     g2o::VertexSim3Expmap* vSim3_recov = static_cast<g2o::VertexSim3Expmap*>(optimizer.vertex(0));
     g2oS12= vSim3_recov->estimate();
-
     //Verbose::PrintMess("Sim3: Optimized solution " + g2oS12, Verbose::VERBOSITY_DEBUG);
 
     return nIn;
@@ -5388,6 +5227,7 @@ void Optimizer::InertialOptimization(Map *pMap, Eigen::Matrix3d &Rwg, double &sc
     vpei.reserve(vpKFs.size());
     vector<pair<KeyFrame*,KeyFrame*> > vppUsedKF;
     vppUsedKF.reserve(vpKFs.size());
+    std::cout << "build optimization graph" << std::endl;
 
     for(size_t i=0;i<vpKFs.size();i++)
     {
@@ -5397,6 +5237,8 @@ void Optimizer::InertialOptimization(Map *pMap, Eigen::Matrix3d &Rwg, double &sc
         {
             if(pKFi->isBad() || pKFi->mPrevKF->mnId>maxKFid)
                 continue;
+            if(!pKFi->mpImuPreintegrated)
+                std::cout << "Not preintegrated measurement" << std::endl;
 
             pKFi->mpImuPreintegrated->SetNewBias(pKFi->mPrevKF->GetImuBias());
             g2o::HyperGraph::Vertex* VP1 = optimizer.vertex(pKFi->mPrevKF->mnId);
@@ -5434,9 +5276,13 @@ void Optimizer::InertialOptimization(Map *pMap, Eigen::Matrix3d &Rwg, double &sc
     // Compute error for different scales
     std::set<g2o::HyperGraph::Edge*> setEdges = optimizer.edges();
 
+    std::cout << "start optimization" << std::endl;
     optimizer.setVerbose(false);
     optimizer.initializeOptimization();
     optimizer.optimize(its);
+
+    std::cout << "end optimization" << std::endl;
+
     scale = VS->estimate();
 
     // Recover optimized data
@@ -5456,6 +5302,8 @@ void Optimizer::InertialOptimization(Map *pMap, Eigen::Matrix3d &Rwg, double &sc
     cv::Mat cvbg = Converter::toCvMat(bg);
 
     //Keyframes velocities and biases
+    std::cout << "update Keyframes velocities and biases" << std::endl;
+
     const int N = vpKFs.size();
     for(size_t i=0; i<N; i++)
     {
diff --git a/src/System.cc b/src/System.cc
index 235705179f..ab66b7cd0d 100644
--- a/src/System.cc
+++ b/src/System.cc
@@ -398,24 +398,6 @@ cv::Mat System::TrackMonocular(const cv::Mat &im, const double &timestamp, const
 
     cv::Mat Tcw = mpTracker->GrabImageMonocular(im,timestamp,filename);
 
-    /*if(mpLocalMapper->mbNewInit)
-    {
-        // Save data
-        SaveDebugData(mpLocalMapper->mIdxInit);
-        mpLocalMapper->mbNewInit=false;
-        // Check if reset
-        {
-            unique_lock<mutex> lock(mMutexReset);
-            if(mpLocalMapper->mInitTime>10.0)
-            {
-                mpTracker->Reset();
-                mbReset = false;
-                mbResetActiveMap = false;
-                mpLocalMapper->mInitSect++;
-            }
-        }
-    }*/
-
     unique_lock<mutex> lock2(mMutexState);
     mTrackingState = mpTracker->mState;
     mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
diff --git a/src/Tracking.cc b/src/Tracking.cc
index 495ea06fb9..bfb8348d2c 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -86,6 +86,11 @@ Tracking::Tracking(System *pSys, ORBVocabulary* pVoc, FrameDrawer *pFrameDrawer,
         float K3 = fSettings["Camera.k3"];
         float K4 = fSettings["Camera.k4"];
 
+        std::cout << "K1 = " << K1 << std::endl;
+        std::cout << "K2 = " << K2 << std::endl;
+        std::cout << "K3 = " << K3 << std::endl;
+        std::cout << "K4 = " << K4 << std::endl;
+
         vector<float> vCamCalib{fx,fy,cx,cy,K1,K2,K3,K4};
 
         mpCamera = new KannalaBrandt8(vCamCalib);
@@ -514,7 +519,6 @@ cv::Mat Tracking::GrabImageMonocular(const cv::Mat &im, const double &timestamp,
     {
         if(mState==NOT_INITIALIZED || mState==NO_IMAGES_YET)
         {
-            cout << "init extractor" << endl;
             mCurrentFrame = Frame(mImGray,timestamp,mpIniORBextractor,mpORBVocabulary,mpCamera,mDistCoef,mbf,mThDepth,&mLastFrame,*mpImuCalib);
         }
         else
@@ -668,10 +672,6 @@ void Tracking::PreintegrateIMU()
     mCurrentFrame.mpImuPreintegrated = mpImuPreintegratedFromLastKF;
     mCurrentFrame.mpLastKeyFrame = mpLastKeyFrame;
 
-    if(!mpLastKeyFrame)
-    {
-        cout << "last KF is empty!" << endl;
-    }
     mCurrentFrame.setIntegrated();
 
     Verbose::PrintMess("Preintegration is finished!! ", Verbose::VERBOSITY_DEBUG);
@@ -943,8 +943,6 @@ void Tracking::Track()
         mbMapUpdated = true;
     }
 
-    //std::cout << "T2" << std::endl;
-
 
     if(mState==NOT_INITIALIZED)
     {
@@ -1374,7 +1372,6 @@ void Tracking::StereoInitialization()
 
             if (cv::norm(mCurrentFrame.mpImuPreintegratedFrame->avgA-mLastFrame.mpImuPreintegratedFrame->avgA)<0.5)
             {
-                cout << cv::norm(mCurrentFrame.mpImuPreintegratedFrame->avgA) << endl;
                 cout << "not enough acceleration" << endl;
                 return;
             }
@@ -1477,6 +1474,7 @@ void Tracking::MonocularInitialization()
         // Set Reference Frame
         if(mCurrentFrame.mvKeys.size()>100)
         {
+
             mInitialFrame = Frame(mCurrentFrame);
             mLastFrame = Frame(mCurrentFrame);
             mvbPrevMatched.resize(mCurrentFrame.mvKeysUn.size());
@@ -2939,7 +2937,7 @@ void Tracking::ResetActiveMap(bool bLocMap)
 
         index++;
     }
-    cout << num_lost << " Frames had been set to lost" << endl;
+    cout << num_lost << " Frames set to lost" << endl;
 
     mlbLost = lbLost;