diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000000..e5be246e8f
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,7 @@
+{
+ "files.associations": {
+ "iostream": "cpp",
+ "ostream": "cpp",
+ "filesystem": "cpp"
+ }
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 016e74354d..5b4d44b4eb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,25 +12,30 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
-# Check C++11 or C++0x support
+# Check C++14 or C++0x support
include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
add_definitions(-DCOMPILEDWITHC11)
- message(STATUS "Using flag -std=c++11.")
+ message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
+elseif(COMPILER_SUPPORTS_CXX14)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+ add_definitions(-DCOMPILEDWITHC11) #code seems to have macros which need this
+ add_definitions(-DCOMPILEDWITHC14)
+ message(STATUS "Using flag -std=c++14.")
else()
- message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+ message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
-find_package(OpenCV 4.4)
+find_package(OpenCV)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif()
@@ -205,6 +210,18 @@ add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME})
+add_executable(mono_aqualoc
+ Examples/Monocular/mono_aqualoc.cc)
+target_link_libraries(mono_aqualoc ${PROJECT_NAME})
+
+add_executable(mono_mimir
+ Examples/Monocular/mono_mimir.cc)
+target_link_libraries(mono_mimir ${PROJECT_NAME})
+
+add_executable(mono_subpipe
+ Examples/Monocular/mono_subpipe.cc)
+target_link_libraries(mono_subpipe ${PROJECT_NAME})
+
if(realsense2_FOUND)
add_executable(mono_realsense_t265
Examples/Monocular/mono_realsense_t265.cc)
@@ -222,6 +239,10 @@ add_executable(mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
+add_executable(mono_inertial_subpipe
+ Examples/Monocular-Inertial/mono_inertial_subpipe.cc)
+target_link_libraries(mono_inertial_subpipe ${PROJECT_NAME})
+
add_executable(mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
@@ -243,6 +264,10 @@ add_executable(stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
+add_executable(stereo_mimir
+ Examples/Stereo/stereo_mimir.cc)
+target_link_libraries(stereo_mimir ${PROJECT_NAME})
+
add_executable(stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
diff --git a/Examples/Monocular-Inertial/MIMIR.yaml b/Examples/Monocular-Inertial/MIMIR.yaml
new file mode 100644
index 0000000000..ad51e992e2
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR.yaml
@@ -0,0 +1,91 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 252.07470703125
+Camera1.fy: 252.07470703125
+Camera1.cx: 360.0
+Camera1.cy: 270.0
+
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+Camera.width: 720
+Camera.height: 540
+
+Camera.newWidth: 720
+Camera.newHeight: 540
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Transformation from camera to body-frame (imu)
+IMU.T_b_c1: !!opencv-matrix
+ rows: 4
+ cols: 4
+ dt: f
+ data: [0.9659258262890682, -0.0, -0.25881904510252074, 0.45,
+ 0.0, 1.0, -0.0, -0.06,
+ 0.25881904510252074, 0.0, 0.9659258262890682, 0.0,
+ 0.0, 0.0, 0.0, 1.0]
+
+# "rate_hz": 210,
+# "angular_random_walk": 0.3,
+# "giro_bias_stability_tau": 500,
+# "giro_bias_stability": 4.6,
+# "velocity_random_walk": 0.24,
+# "accel_bias_stability": 36,
+# "accel_bias_stability_tau": 800
+
+# IMU noise
+IMU.NoiseGyro: 1.7e-4 #1.6968e-04
+IMU.NoiseAcc: 2.0000e-3 #2.0e-3
+IMU.GyroWalk: 1.9393e-05
+IMU.AccWalk: 3.0000e-03 # 3e-03
+IMU.Frequency: 210.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000 # 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5 # -1.8
+Viewer.ViewpointF: 500.0
+
diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_dark.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_dark.txt
new file mode 100644
index 0000000000..e14794a331
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_dark.txt
@@ -0,0 +1,2405 @@
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_light.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_light.txt
new file mode 100644
index 0000000000..cca6f70bc4
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track0_light.txt
@@ -0,0 +1,2421 @@
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track1_light.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track1_light.txt
new file mode 100644
index 0000000000..fc436ed12e
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/OceanFloor_track1_light.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_dark.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_dark.txt
new file mode 100644
index 0000000000..656025a687
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_dark.txt
@@ -0,0 +1,2741 @@
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_light.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_light.txt
new file mode 100644
index 0000000000..b9447370b4
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SandPipe_track0_light.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt
new file mode 100644
index 0000000000..23ef73aa69
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt
new file mode 100644
index 0000000000..51983432b0
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt
new file mode 100644
index 0000000000..7283c7fd50
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track0.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track0.txt
new file mode 100644
index 0000000000..d40335079d
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track0.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track1.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track1.txt
new file mode 100644
index 0000000000..f8502440d4
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track1.txt
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diff --git a/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track2.txt b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track2.txt
new file mode 100644
index 0000000000..c35350d63a
--- /dev/null
+++ b/Examples/Monocular-Inertial/MIMIR_TimeStamps/SeaFloor_track2.txt
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diff --git a/Examples/Monocular-Inertial/SubPipe.yaml b/Examples/Monocular-Inertial/SubPipe.yaml
new file mode 100644
index 0000000000..2fd7ad7c4b
--- /dev/null
+++ b/Examples/Monocular-Inertial/SubPipe.yaml
@@ -0,0 +1,97 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 1612.36
+Camera1.fy: 1622.56
+Camera1.cx: 1365.43
+Camera1.cy: 741.27
+
+Camera1.k1: -0.247
+Camera1.k2: 0.0869
+Camera1.p1: -0.006
+Camera1.p2: 0.001
+
+Camera.width: 2704
+Camera.height: 1520
+
+Camera.newWidth: 640
+Camera.newHeight: 480
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Transformation from camera to body-frame (imu)
+IMU.T_b_c1: !!opencv-matrix
+ rows: 4
+ cols: 4
+ dt: f
+ data: [1., 0., 0., 0.,
+ 0., 1., 0., 0.,
+ 0., 0., 1., 0.,
+ 0., 0., 0., 1.]
+
+# IMU noise
+IMU.NoiseGyro: 1.7e-4 #1.6968e-04
+IMU.NoiseAcc: 2.0000e-3 #2.0e-3
+IMU.GyroWalk: 1.9393e-05
+IMU.AccWalk: 3.0000e-03 # 3e-03
+IMU.Frequency: 30.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 10000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 3
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 5
+ORBextractor.minThFAST: 1
+
+ORBextractor.iniThRatio: 0.2
+ORBextractor.minThRatio: 0.1
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular-Inertial/mono_inertial_euroc.cc b/Examples/Monocular-Inertial/mono_inertial_euroc.cc
index b9f320fd76..bdccb3dad4 100644
--- a/Examples/Monocular-Inertial/mono_inertial_euroc.cc
+++ b/Examples/Monocular-Inertial/mono_inertial_euroc.cc
@@ -82,10 +82,10 @@ int main(int argc, char *argv[])
string pathSeq(argv[(2*seq) + 3]);
string pathTimeStamps(argv[(2*seq) + 4]);
- string pathCam0 = pathSeq + "/mav0/cam0/data";
- string pathImu = pathSeq + "/mav0/imu0/data.csv";
+ string pathcam2 = pathSeq + "/auv0/rgb/cam2/data";
+ string pathImu = pathSeq + "/auv0/imu0/data.csv";
- LoadImages(pathCam0, pathTimeStamps, vstrImageFilenames[seq], vTimestampsCam[seq]);
+ LoadImages(pathcam2, pathTimeStamps, vstrImageFilenames[seq], vTimestampsCam[seq]);
cout << "LOADED!" << endl;
cout << "Loading IMU for sequence " << seq << "...";
diff --git a/Examples/Monocular-Inertial/mono_inertial_mimir.cc b/Examples/Monocular-Inertial/mono_inertial_mimir.cc
new file mode 100644
index 0000000000..b9f320fd76
--- /dev/null
+++ b/Examples/Monocular-Inertial/mono_inertial_mimir.cc
@@ -0,0 +1,310 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+#include "ImuTypes.h"
+
+using namespace std;
+
+void LoadImages(const string &strImagePath, const string &strPathTimes,
+ vector &vstrImages, vector &vTimeStamps);
+
+void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro);
+
+double ttrack_tot = 0;
+int main(int argc, char *argv[])
+{
+
+ if(argc < 5)
+ {
+ cerr << endl << "Usage: ./mono_inertial_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) " << endl;
+ return 1;
+ }
+
+ const int num_seq = (argc-3)/2;
+ cout << "num_seq = " << num_seq << endl;
+ bool bFileName= (((argc-3) % 2) == 1);
+ string file_name;
+ if (bFileName)
+ {
+ file_name = string(argv[argc-1]);
+ cout << "file name: " << file_name << endl;
+ }
+
+ // Load all sequences:
+ int seq;
+ vector< vector > vstrImageFilenames;
+ vector< vector > vTimestampsCam;
+ vector< vector > vAcc, vGyro;
+ vector< vector > vTimestampsImu;
+ vector nImages;
+ vector nImu;
+ vector first_imu(num_seq,0);
+
+ vstrImageFilenames.resize(num_seq);
+ vTimestampsCam.resize(num_seq);
+ vAcc.resize(num_seq);
+ vGyro.resize(num_seq);
+ vTimestampsImu.resize(num_seq);
+ nImages.resize(num_seq);
+ nImu.resize(num_seq);
+
+ int tot_images = 0;
+ for (seq = 0; seq vTimesTrack;
+ vTimesTrack.resize(tot_images);
+
+ cout.precision(17);
+
+ // 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);
+ float imageScale = SLAM.GetImageScale();
+
+ double t_resize = 0.f;
+ double t_track = 0.f;
+
+ int proccIm=0;
+ for (seq = 0; seq vImuMeas;
+ proccIm = 0;
+ for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count();
+ SLAM.InsertResizeTime(t_resize);
+#endif
+ }
+
+ // Load imu measurements from previous frame
+ vImuMeas.clear();
+
+ if(ni>0)
+ {
+ // cout << "t_cam " << tframe << endl;
+
+ while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
+ {
+ vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
+ vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
+ vTimestampsImu[seq][first_imu[seq]]));
+ first_imu[seq]++;
+ }
+ }
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
+ #endif
+
+ // Pass the image to the SLAM system
+ // cout << "tframe = " << tframe << endl;
+ SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
+ #endif
+
+#ifdef REGISTER_TIMES
+ t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count();
+ SLAM.InsertTrackTime(t_track);
+#endif
+
+ double ttrack= std::chrono::duration_cast >(t2 - t1).count();
+ ttrack_tot += ttrack;
+ // std::cout << "ttrack: " << ttrack << std::endl;
+
+ vTimesTrack[ni]=ttrack;
+
+ // Wait to load the next frame
+ double T=0;
+ if(ni0)
+ T = tframe-vTimestampsCam[seq][ni-1];
+
+ if(ttrack &vstrImages, vector &vTimeStamps)
+{
+ ifstream fTimes;
+ fTimes.open(strPathTimes.c_str());
+ vTimeStamps.reserve(5000);
+ vstrImages.reserve(5000);
+ while(!fTimes.eof())
+ {
+ string s;
+ getline(fTimes,s);
+ if(!s.empty())
+ {
+ stringstream ss;
+ ss << s;
+ vstrImages.push_back(strImagePath + "/" + ss.str() + ".png");
+ double t;
+ ss >> t;
+ vTimeStamps.push_back(t/1e9);
+
+ }
+ }
+}
+
+void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro)
+{
+ ifstream fImu;
+ fImu.open(strImuPath.c_str());
+ vTimeStamps.reserve(5000);
+ vAcc.reserve(5000);
+ vGyro.reserve(5000);
+
+ while(!fImu.eof())
+ {
+ string s;
+ getline(fImu,s);
+ if (s[0] == '#')
+ continue;
+
+ if(!s.empty())
+ {
+ string item;
+ size_t pos = 0;
+ double data[7];
+ int count = 0;
+ while ((pos = s.find(',')) != string::npos) {
+ item = s.substr(0, pos);
+ data[count++] = stod(item);
+ s.erase(0, pos + 1);
+ }
+ item = s.substr(0, pos);
+ data[6] = stod(item);
+
+ vTimeStamps.push_back(data[0]/1e9);
+ vAcc.push_back(cv::Point3f(data[4],data[5],data[6]));
+ vGyro.push_back(cv::Point3f(data[1],data[2],data[3]));
+ }
+ }
+}
diff --git a/Examples/Monocular-Inertial/mono_inertial_subpipe.cc b/Examples/Monocular-Inertial/mono_inertial_subpipe.cc
new file mode 100644
index 0000000000..a5309dd19b
--- /dev/null
+++ b/Examples/Monocular-Inertial/mono_inertial_subpipe.cc
@@ -0,0 +1,332 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+#include "ImuTypes.h"
+
+using namespace std;
+
+void LoadImages(const std::string &strAccPath,
+ std::vector &vImagePaths, std::vector &vTimeStamps);
+
+void LoadIMU(const std::string &strAccPath, const std::string &strGyroPath, std::vector &vTimeStamps, std::vector &vAcc, std::vector &vGyro);
+
+double ttrack_tot = 0;
+int main(int argc, char *argv[])
+{
+
+ if(argc < 4)
+ {
+ cerr << endl << "Usage: ./mono_inertial_subpipe path_to_vocabulary path_to_settings path_to_sequence_folder_1 " << endl;
+ return 1;
+ }
+
+ const int num_seq = argc-3;
+ cout << "num_seq = " << num_seq << endl;
+ bool bFileName= (((argc-3) % 2) == 1);
+ string file_name;
+ if (bFileName)
+ {
+ file_name = string(argv[argc-1]);
+ cout << "Path to files: " << file_name << endl;
+ }
+
+ // Load all sequences:
+ int seq;
+ vector< vector > vstrImageFilenames;
+ vector< vector > vTimestampsCam;
+ vector< vector > vAcc, vGyro;
+ vector< vector > vTimestampsImu;
+ vector nImages;
+ vector nImu;
+ vector first_imu(num_seq,0);
+ vstrImageFilenames.resize(num_seq);
+ vTimestampsCam.resize(num_seq);
+ vAcc.resize(num_seq);
+ vGyro.resize(num_seq);
+ vTimestampsImu.resize(num_seq);
+ nImages.resize(num_seq);
+ nImu.resize(num_seq);
+ int tot_images = 0;
+ for (seq = 0; seq vTimesTrack;
+ vTimesTrack.resize(tot_images);
+
+ cout.precision(17);
+
+ // 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);
+ float imageScale = SLAM.GetImageScale();
+
+ double t_resize = 0.f;
+ double t_track = 0.f;
+
+ int proccIm=0;
+ for (seq = 0; seq vImuMeas;
+ proccIm = 0;
+ for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count();
+ SLAM.InsertResizeTime(t_resize);
+#endif
+ }
+
+ // Load imu measurements from previous frame
+ vImuMeas.clear();
+
+ if(ni>0)
+ {
+ // cout << "t_cam " << tframe << endl;
+
+ while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
+ {
+ vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
+ vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
+ vTimestampsImu[seq][first_imu[seq]]));
+ first_imu[seq]++;
+ }
+ }
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
+ #endif
+
+ // Pass the image to the SLAM system
+ // cout << "tframe = " << tframe << endl;
+ SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
+ #endif
+
+#ifdef REGISTER_TIMES
+ t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count();
+ SLAM.InsertTrackTime(t_track);
+#endif
+
+ double ttrack= std::chrono::duration_cast >(t2 - t1).count();
+ ttrack_tot += ttrack;
+ // std::cout << "ttrack: " << ttrack << std::endl;
+
+ vTimesTrack[ni]=ttrack;
+
+ // Wait to load the next frame
+ double T=0;
+ if(ni0)
+ T = tframe-vTimestampsCam[seq][ni-1];
+
+ if(ttrack &vImagePaths, std::vector &vTimeStamps) {
+ std::ifstream fAcc(strAccPath);
+ std::string line;
+
+ // Skip the header
+ std::getline(fAcc, line);
+
+ while (std::getline(fAcc, line)) {
+ std::istringstream ss(line);
+
+ std::string imagePath;
+ double timestamp;
+ std::string dummy; // for skipping other data fields
+
+ // Parse image path and timestamp
+ std::getline(ss, imagePath, ',');
+ std::getline(ss, dummy, ','); timestamp = std::stod(dummy);
+
+ // Skip the rest of the data in the line
+ std::getline(ss, dummy);
+
+ // Extracting just the filename from the path using dirent.h
+ size_t lastSlashPos = imagePath.find_last_of('/');
+ std::string fileName = (lastSlashPos != std::string::npos) ? imagePath.substr(lastSlashPos + 1) : imagePath;
+
+ vImagePaths.push_back(fileName);
+ vTimeStamps.push_back(timestamp);
+ }
+
+ fAcc.close();
+}
+
+void LoadIMU(const std::string &strAccPath, const std::string &strGyroPath, std::vector &vTimeStamps, std::vector &vAcc, std::vector &vGyro) {
+ std::ifstream fAcc, fGyro;
+ fAcc.open(strAccPath);
+ fGyro.open(strGyroPath);
+
+ std::string lineAcc, lineGyro;
+
+ // Skip headers
+ std::getline(fAcc, lineAcc);
+ std::getline(fGyro, lineGyro);
+
+ while (std::getline(fAcc, lineAcc) && std::getline(fGyro, lineGyro)) {
+ std::istringstream ssAcc(lineAcc), ssGyro(lineGyro);
+
+ std::string sImageAcc, sImageGyro;
+ double timestampAcc, timestampGyro;
+ float accX, accY, accZ, gyroX, gyroY, gyroZ;
+
+ std::string token;
+
+ // Parse acceleration data
+ std::getline(ssAcc, sImageAcc, ','); // Skip image path
+ std::getline(ssAcc, token, ','); timestampAcc = std::stod(token);
+ std::getline(ssAcc, token, ','); accX = std::stof(token);
+ std::getline(ssAcc, token, ','); accY = std::stof(token);
+ std::getline(ssAcc, token, ','); accZ = std::stof(token);
+
+ // Parse gyroscope data
+ std::getline(ssGyro, sImageGyro, ','); // Skip image path
+ std::getline(ssGyro, token, ','); timestampGyro = std::stod(token);
+ std::getline(ssGyro, token, ','); gyroX = std::stof(token);
+ std::getline(ssGyro, token, ','); gyroY = std::stof(token);
+ std::getline(ssGyro, token, ','); gyroZ = std::stof(token);
+
+ // Check if timestamps match
+ if (timestampAcc != timestampGyro) {
+ std::cerr << "Warning: Mismatched timestamps found:" << std::endl;
+ std::cout << "Image Acc: " << sImageAcc << ", Timestamp Acc: " << timestampAcc << std::endl;
+ std::cout << "Image Gyro: " << sImageGyro << ", Timestamp Gyro: " << timestampGyro << std::endl;
+ continue;
+ }
+
+ vTimeStamps.push_back(timestampAcc);
+ vAcc.emplace_back(accX, accY, accZ);
+ vGyro.emplace_back(gyroX, gyroY, gyroZ);
+ }
+
+ fAcc.close();
+ fGyro.close();
+}
+
diff --git a/Examples/Monocular/Aqualoc.yaml b/Examples/Monocular/Aqualoc.yaml
new file mode 100755
index 0000000000..66799ff3ee
--- /dev/null
+++ b/Examples/Monocular/Aqualoc.yaml
@@ -0,0 +1,65 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 543.3327734182214
+Camera1.fy: 542.398772982566
+Camera1.cx: 489.02536042247897
+Camera1.cy: 305.38727712002805
+
+Camera1.k1: -0.1255945656257394
+Camera1.k2: 0.053221287232781606
+Camera1.p1: 9.94070021080493e-05
+Camera1.p2: 9.550660927242349e-05
+Camera1.k3: 0.
+Camera.width: 968
+Camera.height: 608
+
+Camera.newWidth: 640
+Camera.newHeight: 480
+
+# Camera frames per second
+Camera.fps: 20
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular/C922.yaml b/Examples/Monocular/C922.yaml
new file mode 100755
index 0000000000..99c60a2907
--- /dev/null
+++ b/Examples/Monocular/C922.yaml
@@ -0,0 +1,77 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 478.884888
+Camera1.fy: 479.366787
+Camera1.cx: 325.974713
+Camera1.cy: 180.202959
+
+Camera1.k1: 0.025474
+Camera1.k2: -0.079350
+Camera1.p1: -0.000567
+Camera1.p2: -0.000980
+
+Camera.width: 640
+Camera.height: 360
+
+Camera.newWidth: 640
+Camera.newHeight: 360
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular/EuRoC.yaml b/Examples/Monocular/EuRoC.yaml
index 3840edadbd..40b823ac56 100644
--- a/Examples/Monocular/EuRoC.yaml
+++ b/Examples/Monocular/EuRoC.yaml
@@ -74,5 +74,4 @@ Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
-Viewer.ViewpointF: 500.0
-
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular/EuRoC_TimeStamps/MH01.txt b/Examples/Monocular/EuRoC_TimeStamps/MH_01_easy.txt
similarity index 100%
rename from Examples/Monocular/EuRoC_TimeStamps/MH01.txt
rename to Examples/Monocular/EuRoC_TimeStamps/MH_01_easy.txt
diff --git a/Examples/Monocular/EuRoC_TimeStamps/MH04.txt b/Examples/Monocular/EuRoC_TimeStamps/MH_04_difficult.txt
similarity index 100%
rename from Examples/Monocular/EuRoC_TimeStamps/MH04.txt
rename to Examples/Monocular/EuRoC_TimeStamps/MH_04_difficult.txt
diff --git a/Examples/Monocular/MIMIR.yaml b/Examples/Monocular/MIMIR.yaml
new file mode 100644
index 0000000000..4ee9715b10
--- /dev/null
+++ b/Examples/Monocular/MIMIR.yaml
@@ -0,0 +1,77 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 252.07470703125
+Camera1.fy: 252.07470703125
+Camera1.cx: 360.0
+Camera1.cy: 270.0
+
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+Camera.width: 720
+Camera.height: 540
+
+Camera.newWidth: 720
+Camera.newHeight: 540
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_dark.txt b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_dark.txt
new file mode 100644
index 0000000000..e14794a331
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_dark.txt
@@ -0,0 +1,2405 @@
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_light.txt b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_light.txt
new file mode 100644
index 0000000000..cca6f70bc4
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track0_light.txt
@@ -0,0 +1,2421 @@
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track1_light.txt b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track1_light.txt
new file mode 100644
index 0000000000..fc436ed12e
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/OceanFloor_track1_light.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_dark.txt b/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_dark.txt
new file mode 100644
index 0000000000..656025a687
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_dark.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_light.txt b/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_light.txt
new file mode 100644
index 0000000000..b9447370b4
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SandPipe_track0_light.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt
new file mode 100644
index 0000000000..23ef73aa69
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track0.txt
@@ -0,0 +1,2934 @@
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt
new file mode 100644
index 0000000000..51983432b0
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track1.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt
new file mode 100644
index 0000000000..7283c7fd50
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_Algae_track2.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track0.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track0.txt
new file mode 100644
index 0000000000..d40335079d
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track0.txt
@@ -0,0 +1,2847 @@
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track1.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track1.txt
new file mode 100644
index 0000000000..f8502440d4
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track1.txt
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diff --git a/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track2.txt b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track2.txt
new file mode 100644
index 0000000000..c35350d63a
--- /dev/null
+++ b/Examples/Monocular/MIMIR_TimeStamps/SeaFloor_track2.txt
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diff --git a/Examples/Monocular/SubPipe.yaml b/Examples/Monocular/SubPipe.yaml
new file mode 100644
index 0000000000..e53019f50c
--- /dev/null
+++ b/Examples/Monocular/SubPipe.yaml
@@ -0,0 +1,80 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera1.fx: 1612.36
+Camera1.fy: 1622.56
+Camera1.cx: 1365.43
+Camera1.cy: 741.27
+
+Camera1.k1: -0.247
+Camera1.k2: 0.0869
+Camera1.p1: -0.006
+Camera1.p2: 0.001
+
+Camera.width: 2704
+Camera.height: 1520
+
+Camera.newWidth: 640
+Camera.newHeight: 480
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 10000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 3
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 10
+ORBextractor.minThFAST: 2
+
+ORBextractor.iniThRatio: 0.5
+ORBextractor.minThRatio: 0.2
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
\ No newline at end of file
diff --git a/Examples/Monocular/mono_aqualoc.cc b/Examples/Monocular/mono_aqualoc.cc
new file mode 100644
index 0000000000..65100e40e3
--- /dev/null
+++ b/Examples/Monocular/mono_aqualoc.cc
@@ -0,0 +1,157 @@
+/**
+* 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 .
+*/
+
+
+
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+
+using namespace std;
+
+void LoadImages(const string &strFile, vector &vstrImageFilenames,
+ vector &vTimestamps);
+
+int main(int argc, char **argv)
+{
+ if(argc != 5)
+ {
+ cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_sequence number_of_seq" << endl;
+ return 1;
+ }
+
+ // Retrieve paths to images
+ vector vstrImageFilenames;
+ vector vTimestamps;
+ string strFile = string(argv[3])+"/raw_data/img_sequence_"+string(argv[4])+".csv";
+ LoadImages(strFile, vstrImageFilenames, vTimestamps);
+
+
+ int nImages = vstrImageFilenames.size();
+ cout << nImages << endl;
+
+ // 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::MONOCULAR,true);
+
+ // Vector for tracking time statistics
+ vector vTimesTrack;
+ vTimesTrack.resize(nImages);
+
+ // Main loop
+ cv::Mat im;
+ for(int ni=0; ni >(t2 - t1).count();
+
+ vTimesTrack[ni]=ttrack;
+
+ // Wait to load the next frame
+ double T=0;
+ if(ni0)
+ T = tframe-vTimestamps[ni-1];
+
+ if(ttrack &vstrImageFilenames, vector &vTimestamps)
+{
+ ifstream f;
+ f.open(strFile.c_str());
+
+ // skip first line
+ string s0;
+ getline(f,s0,',');
+ getline(f,s0,',');
+
+ while(!f.eof())
+ {
+ string s;
+ getline(f,s,',');
+ if(!s.empty())
+ {
+ stringstream ss;
+ ss << s;
+
+ double t;
+ string sRGB;
+
+ ss >> sRGB;
+ ss >> t;
+
+ vTimestamps.push_back(t/1e9d);
+ vstrImageFilenames.push_back(sRGB);
+
+
+ }
+ }
+}
diff --git a/Examples/Monocular/mono_mimir.cc b/Examples/Monocular/mono_mimir.cc
new file mode 100644
index 0000000000..9d690a9d4d
--- /dev/null
+++ b/Examples/Monocular/mono_mimir.cc
@@ -0,0 +1,230 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+
+using namespace std;
+
+void LoadImages(const string &strImagePath, const string &strPathTimes,
+ vector &vstrImages, vector &vTimeStamps);
+
+int main(int argc, char **argv)
+{
+ if(argc < 5)
+ {
+ cerr << endl << "Usage: ./mono_Mimir path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) (trajectory_file_name)" << endl;
+ cerr << endl << "Example: ./Examples/Monocular/mono_mimir /home/olaya/dev/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/olaya/dev/ORB_SLAM3/Examples/Monocular/MIMIR.yaml /home/olaya/Datasets/MIMIR/SeaFloor/track0/auv0/rgb/cam2/data /home/olaya/Datasets/MIMIR/SeaFloor/track0/auv0/ORB_timestamps.txt seafloor_cam2_track0.txt" << endl;
+ return 1;
+ }
+
+ const int num_seq = (argc-3)/2;
+ cout << "num_seq = " << num_seq << endl;
+ bool bFileName= (((argc-3) % 2) == 1);
+ string file_name;
+ if (bFileName)
+ {
+ file_name = string(argv[argc-1]);
+ cout << "file name: " << file_name << endl;
+ }
+
+ // Load all sequences:
+ int seq;
+ vector< vector > vstrImageFilenames;
+ vector< vector > vTimestampsCam;
+ vector nImages;
+
+ vstrImageFilenames.resize(num_seq);
+ vTimestampsCam.resize(num_seq);
+ nImages.resize(num_seq);
+
+ int tot_images = 0;
+ for (seq = 0; seq vTimesTrack;
+ vTimesTrack.resize(tot_images);
+
+ cout << endl << "-------" << endl;
+ cout.precision(17);
+
+
+ int fps = 20;
+ float dT = 1.f/fps;
+ // 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::MONOCULAR, false); FIX??
+ ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true, 0, string(argv[3]));
+ float imageScale = SLAM.GetImageScale();
+
+ double t_resize = 0.f;
+ double t_track = 0.f;
+
+ for (seq = 0; seq >(t_End_Resize - t_Start_Resize).count();
+ SLAM.InsertResizeTime(t_resize);
+#endif
+ }
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
+ #endif
+
+ // Pass the image to the SLAM system
+ // cout << "tframe = " << tframe << endl;
+ SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
+
+ #ifdef COMPILEDWITHC11
+ std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
+ #else
+ std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
+ #endif
+
+#ifdef REGISTER_TIMES
+ t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count();
+ SLAM.InsertTrackTime(t_track);
+#endif
+
+ double ttrack= std::chrono::duration_cast >(t2 - t1).count();
+
+ vTimesTrack[ni]=ttrack;
+
+ // Wait to load the next frame
+ double T=0;
+ if(ni0)
+ T = tframe-vTimestampsCam[seq][ni-1];
+
+ //std::cout << "T: " << T << std::endl;
+ //std::cout << "ttrack: " << ttrack << std::endl;
+
+ if(ttrack &vstrImages, vector &vTimeStamps)
+{
+ ifstream fTimes;
+ fTimes.open(strPathTimes.c_str());
+ vTimeStamps.reserve(5000);
+ vstrImages.reserve(5000);
+ while(!fTimes.eof())
+ {
+ string s;
+ getline(fTimes,s);
+ if(!s.empty())
+ {
+ stringstream ss;
+ ss << s;
+ vstrImages.push_back(strImagePath + "/" + ss.str() + ".png");
+ double t;
+ ss >> t;
+ vTimeStamps.push_back(t*1e-9);
+
+ }
+ }
+}
diff --git a/Examples/Monocular/mono_subpipe.cc b/Examples/Monocular/mono_subpipe.cc
new file mode 100644
index 0000000000..a361f6caca
--- /dev/null
+++ b/Examples/Monocular/mono_subpipe.cc
@@ -0,0 +1,168 @@
+/**
+* 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 .
+*/
+
+
+
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+
+#include
+#include
+
+using namespace std;
+
+void LoadImages(const string &strFile, vector &vstrImageFilenames,
+ vector &vTimestamps);
+
+int main(int argc, char **argv)
+{
+ if(argc != 4)
+ {
+ cerr << endl << "Usage: ./mono_subpipe path_to_vocabulary path_to_settings path_to_sequence" << endl;
+ return 1;
+ }
+
+ // Retrieve paths to images
+ vector vstrImageFilenames;
+ vector vTimestamps;
+ string strFile = string(argv[3])+"/EstimatedState.csv";
+ LoadImages(strFile, vstrImageFilenames, vTimestamps);
+
+
+ int nImages = vstrImageFilenames.size();
+ cout << nImages << endl;
+
+ // 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::MONOCULAR,true);
+
+ // Vector for tracking time statistics
+ vector vTimesTrack;
+ vTimesTrack.resize(nImages);
+
+ // Main loop
+ cv::Mat im;
+ for(int ni=0; ni >(t2 - t1).count();
+
+ vTimesTrack[ni]=ttrack;
+
+ // Wait to load the next frame
+ double T=0;
+ if(ni0)
+ T = tframe-vTimestamps[ni-1];
+
+ if(ttrack &vstrImageFilenames, std::vector &vTimestamps)
+{
+ std::ifstream f;
+ f.open(strFile.c_str());
+
+ // Skip the first line containing column names
+ std::string columnNames;
+ getline(f, columnNames);
+
+ while (!f.eof())
+ {
+ std::string s1, s2; // Variables for the first and second columns
+ getline(f, s1, ','); // Read the first column
+ getline(f, s2, ','); // Read the second column
+
+ if (!s1.empty() && !s2.empty())
+ {
+ std::stringstream ss1(s1);
+ std::stringstream ss2(s2);
+
+ double t;
+ std::string sRGB;
+
+ ss1 >> sRGB;
+ ss2 >> t;
+
+ // Extracting just the filename from the path using dirent.h
+ size_t lastSlashPos = sRGB.find_last_of('/');
+ std::string fileName = (lastSlashPos != std::string::npos) ? sRGB.substr(lastSlashPos + 1) : sRGB;
+
+ vTimestamps.push_back(t);
+ vstrImageFilenames.push_back(fileName);
+ }
+
+ // Move to the next line
+ f.ignore(std::numeric_limits::max(), '\n');
+ }
+}
diff --git a/Examples/REAMDME.md b/Examples/README.md
similarity index 100%
rename from Examples/REAMDME.md
rename to Examples/README.md
diff --git a/Examples/ROS/ORB_SLAM3/Asus.yaml b/Examples/ROS/ORB_SLAM3/Asus.yaml
new file mode 100644
index 0000000000..4d0c08ec7d
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/Asus.yaml
@@ -0,0 +1,70 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera.fx: 535.4
+Camera.fy: 539.2
+Camera.cx: 320.1
+Camera.cy: 247.6
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 1.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+
diff --git a/Examples/ROS/ORB_SLAM3/CMakeLists.txt b/Examples/ROS/ORB_SLAM3/CMakeLists.txt
new file mode 100644
index 0000000000..e1f44e8803
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/CMakeLists.txt
@@ -0,0 +1,114 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rosbuild_init()
+
+IF(NOT ROS_BUILD_TYPE)
+ SET(ROS_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${ROS_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ add_definitions(-DCOMPILEDWITHC11)
+ message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+ add_definitions(-DCOMPILEDWITHC0X)
+ message(STATUS "Using flag -std=c++0x.")
+else()
+ message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
+
+find_package(OpenCV 3.2 QUIET)
+if(NOT OpenCV_FOUND)
+ message(FATAL_ERROR "OpenCV > 4.4 not found.")
+endif()
+
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/../../../
+${PROJECT_SOURCE_DIR}/../../../include
+${PROJECT_SOURCE_DIR}/../../../include/CameraModels
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(LIBS
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
+${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
+-lboost_system
+)
+
+# Node for monocular camera
+rosbuild_add_executable(Mono
+src/ros_mono.cc
+)
+
+target_link_libraries(Mono
+${LIBS}
+)
+
+# Node for monocular camera (Augmented Reality Demo)
+rosbuild_add_executable(MonoAR
+src/AR/ros_mono_ar.cc
+src/AR/ViewerAR.h
+src/AR/ViewerAR.cc
+)
+
+target_link_libraries(MonoAR
+${LIBS}
+)
+
+# Node for stereo camera
+rosbuild_add_executable(Stereo
+src/ros_stereo.cc
+)
+
+target_link_libraries(Stereo
+${LIBS}
+)
+
+# Node for RGB-D camera
+rosbuild_add_executable(RGBD
+src/ros_rgbd.cc
+)
+
+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
new file mode 100644
index 0000000000..79e6e6fce9
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/manifest.xml
@@ -0,0 +1,15 @@
+
+
+ ORB_SLAM3
+
+ Carlos Campos, Richard Elvira, Juan J. Gomez, Jose M.M. Montiel, Juan D. Tardos
+ GPLv3
+
+
+
+
+
+
+
+
+
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc
new file mode 100644
index 0000000000..4a8973f5e5
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc
@@ -0,0 +1,646 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+#include "ViewerAR.h"
+
+#include
+
+#include
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+
+namespace ORB_SLAM3
+{
+
+const float eps = 1e-4;
+
+cv::Mat ExpSO3(const float &x, const float &y, const float &z)
+{
+ cv::Mat I = cv::Mat::eye(3,3,CV_32F);
+ const float d2 = x*x+y*y+z*z;
+ const float d = sqrt(d2);
+ cv::Mat W = (cv::Mat_(3,3) << 0, -z, y,
+ z, 0, -x,
+ -y, x, 0);
+ if(d(0),v.at(1),v.at(2));
+}
+
+ViewerAR::ViewerAR(){}
+
+void ViewerAR::Run()
+{
+ int w,h,wui;
+
+ cv::Mat im, Tcw;
+ int status;
+ vector vKeys;
+ vector vMPs;
+
+ while(1)
+ {
+ GetImagePose(im,Tcw,status,vKeys,vMPs);
+ if(im.empty())
+ cv::waitKey(mT);
+ else
+ {
+ w = im.cols;
+ h = im.rows;
+ break;
+ }
+ }
+
+ wui=200;
+
+ pangolin::CreateWindowAndBind("Viewer",w+wui,h);
+
+ glEnable(GL_DEPTH_TEST);
+ glEnable (GL_BLEND);
+
+ pangolin::CreatePanel("menu").SetBounds(0.0,1.0,0.0,pangolin::Attach::Pix(wui));
+ pangolin::Var menu_detectplane("menu.Insert Cube",false,false);
+ pangolin::Var menu_clear("menu.Clear All",false,false);
+ pangolin::Var menu_drawim("menu.Draw Image",true,true);
+ pangolin::Var menu_drawcube("menu.Draw Cube",true,true);
+ pangolin::Var menu_cubesize("menu. Cube Size",0.05,0.01,0.3);
+ pangolin::Var menu_drawgrid("menu.Draw Grid",true,true);
+ pangolin::Var menu_ngrid("menu. Grid Elements",3,1,10);
+ pangolin::Var menu_sizegrid("menu. Element Size",0.05,0.01,0.3);
+ pangolin::Var menu_drawpoints("menu.Draw Points",false,true);
+
+ pangolin::Var menu_LocalizationMode("menu.Localization Mode",false,true);
+ bool bLocalizationMode = false;
+
+ pangolin::View& d_image = pangolin::Display("image")
+ .SetBounds(0,1.0f,pangolin::Attach::Pix(wui),1.0f,(float)w/h)
+ .SetLock(pangolin::LockLeft, pangolin::LockTop);
+
+ pangolin::GlTexture imageTexture(w,h,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
+
+ pangolin::OpenGlMatrixSpec P = pangolin::ProjectionMatrixRDF_TopLeft(w,h,fx,fy,cx,cy,0.001,1000);
+
+ vector vpPlane;
+
+ while(1)
+ {
+
+ if(menu_LocalizationMode && !bLocalizationMode)
+ {
+ mpSystem->ActivateLocalizationMode();
+ bLocalizationMode = true;
+ }
+ else if(!menu_LocalizationMode && bLocalizationMode)
+ {
+ mpSystem->DeactivateLocalizationMode();
+ bLocalizationMode = false;
+ }
+
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ // Activate camera view
+ d_image.Activate();
+ glColor3f(1.0,1.0,1.0);
+
+ // Get last image and its computed pose from SLAM
+ GetImagePose(im,Tcw,status,vKeys,vMPs);
+
+ // Add text to image
+ PrintStatus(status,bLocalizationMode,im);
+
+ if(menu_drawpoints)
+ DrawTrackedPoints(vKeys,vMPs,im);
+
+ // Draw image
+ if(menu_drawim)
+ DrawImageTexture(imageTexture,im);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ // Load camera projection
+ glMatrixMode(GL_PROJECTION);
+ P.Load();
+
+ glMatrixMode(GL_MODELVIEW);
+
+ // Load camera pose
+ LoadCameraPose(Tcw);
+
+ // Draw virtual things
+ if(status==2)
+ {
+ if(menu_clear)
+ {
+ if(!vpPlane.empty())
+ {
+ for(size_t i=0; iMapChanged())
+ {
+ cout << "Map changed. All virtual elements are recomputed!" << endl;
+ bRecompute = true;
+ }
+ }
+
+ for(size_t i=0; iRecompute();
+ }
+ glPushMatrix();
+ pPlane->glTpw.Multiply();
+
+ // Draw cube
+ if(menu_drawcube)
+ {
+ DrawCube(menu_cubesize);
+ }
+
+ // Draw grid plane
+ if(menu_drawgrid)
+ {
+ DrawPlane(menu_ngrid,menu_sizegrid);
+ }
+
+ glPopMatrix();
+ }
+ }
+ }
+
+
+ }
+
+ pangolin::FinishFrame();
+ usleep(mT*1000);
+ }
+
+}
+
+void ViewerAR::SetImagePose(const cv::Mat &im, const cv::Mat &Tcw, const int &status, const vector &vKeys, const vector &vMPs)
+{
+ unique_lock lock(mMutexPoseImage);
+ mImage = im.clone();
+ mTcw = Tcw.clone();
+ mStatus = status;
+ mvKeys = vKeys;
+ mvMPs = vMPs;
+}
+
+void ViewerAR::GetImagePose(cv::Mat &im, cv::Mat &Tcw, int &status, std::vector &vKeys, std::vector &vMPs)
+{
+ unique_lock lock(mMutexPoseImage);
+ im = mImage.clone();
+ Tcw = mTcw.clone();
+ status = mStatus;
+ vKeys = mvKeys;
+ vMPs = mvMPs;
+}
+
+void ViewerAR::LoadCameraPose(const cv::Mat &Tcw)
+{
+ if(!Tcw.empty())
+ {
+ pangolin::OpenGlMatrix M;
+
+ M.m[0] = Tcw.at(0,0);
+ M.m[1] = Tcw.at(1,0);
+ M.m[2] = Tcw.at(2,0);
+ M.m[3] = 0.0;
+
+ M.m[4] = Tcw.at(0,1);
+ M.m[5] = Tcw.at(1,1);
+ M.m[6] = Tcw.at(2,1);
+ M.m[7] = 0.0;
+
+ M.m[8] = Tcw.at(0,2);
+ M.m[9] = Tcw.at(1,2);
+ M.m[10] = Tcw.at(2,2);
+ M.m[11] = 0.0;
+
+ M.m[12] = Tcw.at(0,3);
+ M.m[13] = Tcw.at(1,3);
+ M.m[14] = Tcw.at(2,3);
+ M.m[15] = 1.0;
+
+ M.Load();
+ }
+}
+
+void ViewerAR::PrintStatus(const int &status, const bool &bLocMode, cv::Mat &im)
+{
+ if(!bLocMode)
+ {
+ switch(status)
+ {
+ case 1: {AddTextToImage("SLAM NOT INITIALIZED",im,255,0,0); break;}
+ case 2: {AddTextToImage("SLAM ON",im,0,255,0); break;}
+ case 3: {AddTextToImage("SLAM LOST",im,255,0,0); break;}
+ }
+ }
+ else
+ {
+ switch(status)
+ {
+ case 1: {AddTextToImage("SLAM NOT INITIALIZED",im,255,0,0); break;}
+ case 2: {AddTextToImage("LOCALIZATION ON",im,0,255,0); break;}
+ case 3: {AddTextToImage("LOCALIZATION LOST",im,255,0,0); break;}
+ }
+ }
+}
+
+void ViewerAR::AddTextToImage(const string &s, cv::Mat &im, const int r, const int g, const int b)
+{
+ int l = 10;
+ //imText.rowRange(im.rows-imText.rows,imText.rows) = cv::Mat::zeros(textSize.height+10,im.cols,im.type());
+ cv::putText(im,s,cv::Point(l,im.rows-l),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l-1,im.rows-l),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l+1,im.rows-l),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l-1,im.rows-(l-1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l,im.rows-(l-1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l+1,im.rows-(l-1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l-1,im.rows-(l+1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l,im.rows-(l+1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+ cv::putText(im,s,cv::Point(l+1,im.rows-(l+1)),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(255,255,255),2,8);
+
+ cv::putText(im,s,cv::Point(l,im.rows-l),cv::FONT_HERSHEY_PLAIN,1.5,cv::Scalar(r,g,b),2,8);
+}
+
+void ViewerAR::DrawImageTexture(pangolin::GlTexture &imageTexture, cv::Mat &im)
+{
+ if(!im.empty())
+ {
+ imageTexture.Upload(im.data,GL_RGB,GL_UNSIGNED_BYTE);
+ imageTexture.RenderToViewportFlipY();
+ }
+}
+
+void ViewerAR::DrawCube(const float &size,const float x, const float y, const float z)
+{
+ pangolin::OpenGlMatrix M = pangolin::OpenGlMatrix::Translate(-x,-size-y,-z);
+ glPushMatrix();
+ M.Multiply();
+ pangolin::glDrawColouredCube(-size,size);
+ glPopMatrix();
+}
+
+void ViewerAR::DrawPlane(Plane *pPlane, int ndivs, float ndivsize)
+{
+ glPushMatrix();
+ pPlane->glTpw.Multiply();
+ DrawPlane(ndivs,ndivsize);
+ glPopMatrix();
+}
+
+void ViewerAR::DrawPlane(int ndivs, float ndivsize)
+{
+ // Plane parallel to x-z at origin with normal -y
+ const float minx = -ndivs*ndivsize;
+ const float minz = -ndivs*ndivsize;
+ const float maxx = ndivs*ndivsize;
+ const float maxz = ndivs*ndivsize;
+
+
+ glLineWidth(2);
+ glColor3f(0.7f,0.7f,1.0f);
+ glBegin(GL_LINES);
+
+ for(int n = 0; n<=2*ndivs; n++)
+ {
+ glVertex3f(minx+ndivsize*n,0,minz);
+ glVertex3f(minx+ndivsize*n,0,maxz);
+ glVertex3f(minx,0,minz+ndivsize*n);
+ glVertex3f(maxx,0,minz+ndivsize*n);
+ }
+
+ glEnd();
+
+}
+
+void ViewerAR::DrawTrackedPoints(const std::vector &vKeys, const std::vector &vMPs, cv::Mat &im)
+{
+ const int N = vKeys.size();
+
+
+ for(int i=0; i &vMPs, const int iterations)
+{
+ // Retrieve 3D points
+ vector vPoints;
+ vPoints.reserve(vMPs.size());
+ vector vPointMP;
+ vPointMP.reserve(vMPs.size());
+
+ for(size_t i=0; iObservations()>5)
+ {
+ cv::Mat WorldPos;
+ cv::eigen2cv(pMP->GetWorldPos(), WorldPos);
+ vPoints.push_back(WorldPos);
+ vPointMP.push_back(pMP);
+ }
+ }
+ }
+
+ const int N = vPoints.size();
+
+ if(N<50)
+ return NULL;
+
+
+ // Indices for minimum set selection
+ vector vAllIndices;
+ vAllIndices.reserve(N);
+ vector vAvailableIndices;
+
+ for(int i=0; i bestvDist;
+
+ //RANSAC
+ for(int n=0; n(3,0);
+ const float b = vt.at(3,1);
+ const float c = vt.at(3,2);
+ const float d = vt.at(3,3);
+
+ vector vDistances(N,0);
+
+ const float f = 1.0f/sqrt(a*a+b*b+c*c+d*d);
+
+ for(int i=0; i(0)*a+vPoints[i].at(1)*b+vPoints[i].at(2)*c+d)*f;
+ }
+
+ vector vSorted = vDistances;
+ sort(vSorted.begin(),vSorted.end());
+
+ int nth = max((int)(0.2*N),20);
+ const float medianDist = vSorted[nth];
+
+ if(medianDist vbInliers(N,false);
+ int nInliers = 0;
+ for(int i=0; i vInlierMPs(nInliers,NULL);
+ int nin = 0;
+ for(int i=0; i &vMPs, const cv::Mat &Tcw):mvMPs(vMPs),mTcw(Tcw.clone())
+{
+ rang = -3.14f/2+((float)rand()/RAND_MAX)*3.14f;
+ Recompute();
+}
+
+void Plane::Recompute()
+{
+ const int N = mvMPs.size();
+
+ // Recompute plane with all points
+ cv::Mat A = cv::Mat(N,4,CV_32F);
+ A.col(3) = cv::Mat::ones(N,1,CV_32F);
+
+ o = cv::Mat::zeros(3,1,CV_32F);
+
+ int nPoints = 0;
+ for(int i=0; iisBad())
+ {
+ cv::Mat Xw;
+ cv::eigen2cv(pMP->GetWorldPos(), Xw);
+ o+=Xw;
+ A.row(nPoints).colRange(0,3) = Xw.t();
+ nPoints++;
+ }
+ }
+ A.resize(nPoints);
+
+ cv::Mat u,w,vt;
+ cv::SVDecomp(A,w,u,vt,cv::SVD::MODIFY_A | cv::SVD::FULL_UV);
+
+ float a = vt.at(3,0);
+ float b = vt.at(3,1);
+ float c = vt.at(3,2);
+
+ o = o*(1.0f/nPoints);
+ const float f = 1.0f/sqrt(a*a+b*b+c*c);
+
+ // Compute XC just the first time
+ if(XC.empty())
+ {
+ cv::Mat Oc = -mTcw.colRange(0,3).rowRange(0,3).t()*mTcw.rowRange(0,3).col(3);
+ XC = Oc-o;
+ }
+
+ if((XC.at(0)*a+XC.at(1)*b+XC.at(2)*c)>0)
+ {
+ a=-a;
+ b=-b;
+ c=-c;
+ }
+
+ const float nx = a*f;
+ const float ny = b*f;
+ const float nz = c*f;
+
+ n = (cv::Mat_(3,1)<(3,1) << 0.0f, 1.0f, 0.0f);
+
+ cv::Mat v = up.cross(n);
+ const float sa = cv::norm(v);
+ const float ca = up.dot(n);
+ const float ang = atan2(sa,ca);
+ Tpw = cv::Mat::eye(4,4,CV_32F);
+
+
+ Tpw.rowRange(0,3).colRange(0,3) = ExpSO3(v*ang/sa)*ExpSO3(up*rang);
+ o.copyTo(Tpw.col(3).rowRange(0,3));
+
+ glTpw.m[0] = Tpw.at(0,0);
+ glTpw.m[1] = Tpw.at(1,0);
+ glTpw.m[2] = Tpw.at(2,0);
+ glTpw.m[3] = 0.0;
+
+ glTpw.m[4] = Tpw.at(0,1);
+ glTpw.m[5] = Tpw.at(1,1);
+ glTpw.m[6] = Tpw.at(2,1);
+ glTpw.m[7] = 0.0;
+
+ glTpw.m[8] = Tpw.at(0,2);
+ glTpw.m[9] = Tpw.at(1,2);
+ glTpw.m[10] = Tpw.at(2,2);
+ glTpw.m[11] = 0.0;
+
+ glTpw.m[12] = Tpw.at(0,3);
+ glTpw.m[13] = Tpw.at(1,3);
+ glTpw.m[14] = Tpw.at(2,3);
+ glTpw.m[15] = 1.0;
+
+}
+
+Plane::Plane(const float &nx, const float &ny, const float &nz, const float &ox, const float &oy, const float &oz)
+{
+ n = (cv::Mat_(3,1)<(3,1)<(3,1) << 0.0f, 1.0f, 0.0f);
+
+ cv::Mat v = up.cross(n);
+ const float s = cv::norm(v);
+ const float c = up.dot(n);
+ const float a = atan2(s,c);
+ Tpw = cv::Mat::eye(4,4,CV_32F);
+ const float rang = -3.14f/2+((float)rand()/RAND_MAX)*3.14f;
+ cout << rang;
+ Tpw.rowRange(0,3).colRange(0,3) = ExpSO3(v*a/s)*ExpSO3(up*rang);
+ o.copyTo(Tpw.col(3).rowRange(0,3));
+
+ glTpw.m[0] = Tpw.at(0,0);
+ glTpw.m[1] = Tpw.at(1,0);
+ glTpw.m[2] = Tpw.at(2,0);
+ glTpw.m[3] = 0.0;
+
+ glTpw.m[4] = Tpw.at(0,1);
+ glTpw.m[5] = Tpw.at(1,1);
+ glTpw.m[6] = Tpw.at(2,1);
+ glTpw.m[7] = 0.0;
+
+ glTpw.m[8] = Tpw.at(0,2);
+ glTpw.m[9] = Tpw.at(1,2);
+ glTpw.m[10] = Tpw.at(2,2);
+ glTpw.m[11] = 0.0;
+
+ glTpw.m[12] = Tpw.at(0,3);
+ glTpw.m[13] = Tpw.at(1,3);
+ glTpw.m[14] = Tpw.at(2,3);
+ glTpw.m[15] = 1.0;
+}
+
+}
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h
new file mode 100644
index 0000000000..ef4c578d46
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h
@@ -0,0 +1,118 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+
+#ifndef VIEWERAR_H
+#define VIEWERAR_H
+
+#include
+#include
+#include
+#include
+#include"../../../include/System.h"
+
+namespace ORB_SLAM3
+{
+
+class Plane
+{
+public:
+ Plane(const std::vector &vMPs, const cv::Mat &Tcw);
+ Plane(const float &nx, const float &ny, const float &nz, const float &ox, const float &oy, const float &oz);
+
+ void Recompute();
+
+ //normal
+ cv::Mat n;
+ //origin
+ cv::Mat o;
+ //arbitrary orientation along normal
+ float rang;
+ //transformation from world to the plane
+ cv::Mat Tpw;
+ pangolin::OpenGlMatrix glTpw;
+ //MapPoints that define the plane
+ std::vector mvMPs;
+ //camera pose when the plane was first observed (to compute normal direction)
+ cv::Mat mTcw, XC;
+};
+
+class ViewerAR
+{
+public:
+ ViewerAR();
+
+ void SetFPS(const float fps){
+ mFPS = fps;
+ mT=1e3/fps;
+ }
+
+ void SetSLAM(ORB_SLAM3::System* pSystem){
+ mpSystem = pSystem;
+ }
+
+ // Main thread function.
+ void Run();
+
+ void SetCameraCalibration(const float &fx_, const float &fy_, const float &cx_, const float &cy_){
+ fx = fx_; fy = fy_; cx = cx_; cy = cy_;
+ }
+
+ void SetImagePose(const cv::Mat &im, const cv::Mat &Tcw, const int &status,
+ const std::vector &vKeys, const std::vector &vMPs);
+
+ void GetImagePose(cv::Mat &im, cv::Mat &Tcw, int &status,
+ std::vector &vKeys, std::vector &vMPs);
+
+private:
+
+ //SLAM
+ 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);
+ void LoadCameraPose(const cv::Mat &Tcw);
+ void DrawImageTexture(pangolin::GlTexture &imageTexture, cv::Mat &im);
+ void DrawCube(const float &size, const float x=0, const float y=0, const float z=0);
+ void DrawPlane(int ndivs, float ndivsize);
+ void DrawPlane(Plane* pPlane, int ndivs, float ndivsize);
+ void DrawTrackedPoints(const std::vector &vKeys, const std::vector &vMPs, cv::Mat &im);
+
+ Plane* DetectPlane(const cv::Mat Tcw, const std::vector &vMPs, const int iterations=50);
+
+ // frame rate
+ float mFPS, mT;
+ float fx,fy,cx,cy;
+
+ // Last processed image and computed pose by the SLAM
+ std::mutex mMutexPoseImage;
+ cv::Mat mTcw;
+ cv::Mat mImage;
+ int mStatus;
+ std::vector mvKeys;
+ std::vector mvMPs;
+
+};
+
+
+}
+
+
+#endif // VIEWERAR_H
+
+
diff --git a/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc b/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
new file mode 100644
index 0000000000..0a0b36bbea
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
@@ -0,0 +1,173 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+
+#include
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+
+#include"../../../include/System.h"
+
+#include"ViewerAR.h"
+
+using namespace std;
+
+
+ORB_SLAM3::ViewerAR viewerAR;
+bool bRGB = true;
+
+cv::Mat K;
+cv::Mat DistCoef;
+
+
+class ImageGrabber
+{
+public:
+ ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
+
+ void GrabImage(const sensor_msgs::ImageConstPtr& msg);
+
+ ORB_SLAM3::System* mpSLAM;
+};
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "Mono");
+ ros::start();
+
+ if(argc != 3)
+ {
+ 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_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,false);
+
+
+ cout << endl << endl;
+ cout << "-----------------------" << endl;
+ cout << "Augmented Reality Demo" << endl;
+ cout << "1) Translate the camera to initialize SLAM." << endl;
+ cout << "2) Look at a planar region and translate the camera." << endl;
+ cout << "3) Press Insert Cube to place a virtual cube in the plane. " << endl;
+ cout << endl;
+ cout << "You can place several cubes in different planes." << endl;
+ cout << "-----------------------" << endl;
+ cout << endl;
+
+
+ viewerAR.SetSLAM(&SLAM);
+
+ ImageGrabber igb(&SLAM);
+
+ ros::NodeHandle nodeHandler;
+ ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
+
+
+ cv::FileStorage fSettings(argv[2], cv::FileStorage::READ);
+ bRGB = static_cast((int)fSettings["Camera.RGB"]);
+ float fps = fSettings["Camera.fps"];
+ viewerAR.SetFPS(fps);
+
+ float fx = fSettings["Camera.fx"];
+ float fy = fSettings["Camera.fy"];
+ float cx = fSettings["Camera.cx"];
+ float cy = fSettings["Camera.cy"];
+
+ viewerAR.SetCameraCalibration(fx,fy,cx,cy);
+
+ K = cv::Mat::eye(3,3,CV_32F);
+ K.at(0,0) = fx;
+ K.at(1,1) = fy;
+ K.at(0,2) = cx;
+ K.at(1,2) = cy;
+
+ DistCoef = cv::Mat::zeros(4,1,CV_32F);
+ DistCoef.at(0) = fSettings["Camera.k1"];
+ DistCoef.at(1) = fSettings["Camera.k2"];
+ DistCoef.at(2) = fSettings["Camera.p1"];
+ DistCoef.at(3) = fSettings["Camera.p2"];
+ const float k3 = fSettings["Camera.k3"];
+ if(k3!=0)
+ {
+ DistCoef.resize(5);
+ DistCoef.at(4) = k3;
+ }
+
+ thread tViewer = thread(&ORB_SLAM3::ViewerAR::Run,&viewerAR);
+
+ ros::spin();
+
+ // Stop all threads
+ SLAM.Shutdown();
+
+ // Save camera trajectory
+ SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
+
+ ros::shutdown();
+
+ return 0;
+}
+
+void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
+{
+ // Copy the ros image message to cv::Mat.
+ cv_bridge::CvImageConstPtr cv_ptr;
+ try
+ {
+ cv_ptr = cv_bridge::toCvShare(msg);
+ }
+ catch (cv_bridge::Exception& e)
+ {
+ ROS_ERROR("cv_bridge exception: %s", e.what());
+ return;
+ }
+ cv::Mat im = cv_ptr->image.clone();
+ cv::Mat imu;
+ cv::Mat Tcw;
+ Sophus::SE3f Tcw_SE3f = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
+ Eigen::Matrix4f Tcw_Matrix = Tcw_SE3f.matrix();
+ cv::eigen2cv(Tcw_Matrix, Tcw);
+ int state = mpSLAM->GetTrackingState();
+ vector vMPs = mpSLAM->GetTrackedMapPoints();
+ vector vKeys = mpSLAM->GetTrackedKeyPointsUn();
+
+ cv::undistort(im,imu,K,DistCoef);
+
+ if(bRGB)
+ viewerAR.SetImagePose(imu,Tcw,state,vKeys,vMPs);
+ else
+ {
+ cv::cvtColor(imu,imu,CV_RGB2BGR);
+ viewerAR.SetImagePose(imu,Tcw,state,vKeys,vMPs);
+ }
+}
+
+
diff --git a/Examples/ROS/ORB_SLAM3/src/ros_mono.cc b/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
new file mode 100644
index 0000000000..7e1adb3009
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
@@ -0,0 +1,94 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2021 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 .
+*/
+
+
+#include
+#include
+#include
+#include