v1

Examples/Monocular/EuRoC.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 458.654
+Camera.fy: 457.296
+Camera.cx: 367.215
+Camera.cy: 248.375
+
+Camera.k1: -0.28340811
+Camera.k2: 0.07395907
+Camera.p1: 0.00019359
+Camera.p2: 1.76187114e-05
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# 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
+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
+

Examples/Monocular/KITTI00-02.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 718.856
+Camera.fy: 718.856
+Camera.cx: 607.1928
+Camera.cy: 185.2157
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Monocular/KITTI03.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 721.5377
+Camera.fy: 721.5377
+Camera.cx: 609.5593
+Camera.cy: 172.854
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Monocular/KITTI04-12.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 707.0912
+Camera.fy: 707.0912
+Camera.cx: 601.8873
+Camera.cy: 183.1104
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Monocular/TUM1.yaml

@@ -0,0 +1,58 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 517.306408
+Camera.fy: 516.469215
+Camera.cx: 318.643040
+Camera.cy: 255.313989
+
+Camera.k1: 0.262383
+Camera.k2: -0.953104
+Camera.p1: -0.005358
+Camera.p2: 0.002628
+Camera.k3: 1.163314
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# 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
+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
+

Examples/Monocular/TUM2.yaml

@@ -0,0 +1,58 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 520.908620
+Camera.fy: 521.007327
+Camera.cx: 325.141442
+Camera.cy: 249.701764
+
+Camera.k1: 0.231222
+Camera.k2: -0.784899
+Camera.p1: -0.003257
+Camera.p2: -0.000105
+Camera.k3: 0.917205
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# 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
+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
+

Examples/Monocular/TUM3.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# 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 frames per second 
+Camera.fps: 30.0
+
+# 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
+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
+

Examples/Monocular/mono_euroc.cc

@@ -0,0 +1,155 @@
+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include<iostream>
+#include<algorithm>
+#include<fstream>
+#include<chrono>
+
+#include<opencv2/core/core.hpp>
+
+#include<System.h>
+
+using namespace std;
+
+void LoadImages(const string &strImagePath, const string &strPathTimes,
+                vector<string> &vstrImages, vector<double> &vTimeStamps);
+
+int main(int argc, char **argv)
+{
+    if(argc != 5)
+    {
+        cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_image_folder path_to_times_file" << endl;
+        return 1;
+    }
+
+    // Retrieve paths to images
+    vector<string> vstrImageFilenames;
+    vector<double> vTimestamps;
+    LoadImages(string(argv[3]), string(argv[4]), vstrImageFilenames, vTimestamps);
+
+    int nImages = vstrImageFilenames.size();
+
+    if(nImages<=0)
+    {
+        cerr << "ERROR: Failed to load images" << endl;
+        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);
+
+    // Vector for tracking time statistics
+    vector<float> vTimesTrack;
+    vTimesTrack.resize(nImages);
+
+    cout << endl << "-------" << endl;
+    cout << "Start processing sequence ..." << endl;
+    cout << "Images in the sequence: " << nImages << endl << endl;
+
+    // Main loop
+    cv::Mat im;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        // Read image from file
+        im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        double tframe = vTimestamps[ni];
+
+        if(im.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 <<  vstrImageFilenames[ni] << endl;
+            return 1;
+        }
+
+#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
+        SLAM.TrackMonocular(im,tframe);
+
+#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
+
+        double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
+
+        vTimesTrack[ni]=ttrack;
+
+        // Wait to load the next frame
+        double T=0;
+        if(ni<nImages-1)
+            T = vTimestamps[ni+1]-tframe;
+        else if(ni>0)
+            T = tframe-vTimestamps[ni-1];
+
+        if(ttrack<T)
+            usleep((T-ttrack)*1e6);
+    }
+
+    // Stop all threads
+    SLAM.Shutdown();
+
+    // Tracking time statistics
+    sort(vTimesTrack.begin(),vTimesTrack.end());
+    float totaltime = 0;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        totaltime+=vTimesTrack[ni];
+    }
+    cout << "-------" << endl << endl;
+    cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
+    cout << "mean tracking time: " << totaltime/nImages << endl;
+
+    // Save camera trajectory
+    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
+
+    return 0;
+}
+
+void LoadImages(const string &strImagePath, const string &strPathTimes,
+                vector<string> &vstrImages, vector<double> &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);
+
+        }
+    }
+}

Examples/Monocular/mono_kitti.cc

@@ -0,0 +1,159 @@
+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include<iostream>
+#include<algorithm>
+#include<fstream>
+#include<chrono>
+#include<iomanip>
+
+#include<opencv2/core/core.hpp>
+
+#include"System.h"
+
+#define COMPILEDWITHC11
+
+using namespace std;
+
+void LoadImages(const string &strSequence, vector<string> &vstrImageFilenames,
+                vector<double> &vTimestamps);
+
+int main(int argc, char **argv)
+{
+    if(argc != 4)
+    {
+        cerr << endl << "Usage: ./mono_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl;
+        return 1;
+    }
+
+    // Retrieve paths to images
+    vector<string> vstrImageFilenames;
+    vector<double> vTimestamps;
+    LoadImages(string(argv[3]), vstrImageFilenames, vTimestamps);
+
+    int nImages = vstrImageFilenames.size();
+
+    // 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);
+
+    // Vector for tracking time statistics
+    vector<float> vTimesTrack;
+    vTimesTrack.resize(nImages);
+
+    cout << endl << "-------" << endl;
+    cout << "Start processing sequence ..." << endl;
+    cout << "Images in the sequence: " << nImages << endl << endl;
+
+    // Main loop
+    cv::Mat im;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        // Read image from file
+        im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        double tframe = vTimestamps[ni];
+
+        if(im.empty())
+        {
+            cerr << endl << "Failed to load image at: " << vstrImageFilenames[ni] << endl;
+            return 1;
+        }
+
+#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
+        SLAM.TrackMonocular(im,tframe);
+
+#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
+
+        double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
+
+        vTimesTrack[ni]=ttrack;
+
+        // Wait to load the next frame
+        double T=0;
+        if(ni<nImages-1)
+            T = vTimestamps[ni+1]-tframe;
+        else if(ni>0)
+            T = tframe-vTimestamps[ni-1];
+
+        if(ttrack<T)
+            usleep((T-ttrack)*1e6);
+    }
+
+    // Stop all threads
+    SLAM.Shutdown();
+
+    // Tracking time statistics
+    sort(vTimesTrack.begin(),vTimesTrack.end());
+    float totaltime = 0;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        totaltime+=vTimesTrack[ni];
+    }
+    cout << "-------" << endl << endl;
+    cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
+    cout << "mean tracking time: " << totaltime/nImages << endl;
+
+    // Save camera trajectory
+    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");    
+
+    return 0;
+}
+
+void LoadImages(const string &strPathToSequence, vector<string> &vstrImageFilenames, vector<double> &vTimestamps)
+{
+    ifstream fTimes;
+    string strPathTimeFile = strPathToSequence + "/times.txt";
+    fTimes.open(strPathTimeFile.c_str());
+    while(!fTimes.eof())
+    {
+        string s;
+        getline(fTimes,s);
+        if(!s.empty())
+        {
+            stringstream ss;
+            ss << s;
+            double t;
+            ss >> t;
+            vTimestamps.push_back(t);
+        }
+    }
+
+    string strPrefixLeft = strPathToSequence + "/image_0/";
+
+    const int nTimes = vTimestamps.size();
+    vstrImageFilenames.resize(nTimes);
+
+    for(int i=0; i<nTimes; i++)
+    {
+        stringstream ss;
+        ss << setfill('0') << setw(6) << i;
+        vstrImageFilenames[i] = strPrefixLeft + ss.str() + ".png";
+    }
+}

Examples/Monocular/mono_tum.cc

@@ -0,0 +1,155 @@
+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include<iostream>
+#include<algorithm>
+#include<fstream>
+#include<chrono>
+
+#include<opencv2/core/core.hpp>
+
+#include<System.h>
+
+using namespace std;
+
+void LoadImages(const string &strFile, vector<string> &vstrImageFilenames,
+                vector<double> &vTimestamps);
+
+int main(int argc, char **argv)
+{
+    if(argc != 4)
+    {
+        cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_sequence" << endl;
+        return 1;
+    }
+
+    // Retrieve paths to images
+    vector<string> vstrImageFilenames;
+    vector<double> vTimestamps;
+    string strFile = string(argv[3])+"/rgb.txt";
+    LoadImages(strFile, vstrImageFilenames, vTimestamps);
+
+    int nImages = vstrImageFilenames.size();
+
+    // 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);
+
+    // Vector for tracking time statistics
+    vector<float> vTimesTrack;
+    vTimesTrack.resize(nImages);
+
+    cout << endl << "-------" << endl;
+    cout << "Start processing sequence ..." << endl;
+    cout << "Images in the sequence: " << nImages << endl << endl;
+
+    // Main loop
+    cv::Mat im;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        // Read image from file
+        im = cv::imread(string(argv[3])+"/"+vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
+        double tframe = vTimestamps[ni];
+
+        if(im.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(argv[3]) << "/" << vstrImageFilenames[ni] << endl;
+            return 1;
+        }
+
+#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
+        SLAM.TrackMonocular(im,tframe);
+
+#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
+
+        double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
+
+        vTimesTrack[ni]=ttrack;
+
+        // Wait to load the next frame
+        double T=0;
+        if(ni<nImages-1)
+            T = vTimestamps[ni+1]-tframe;
+        else if(ni>0)
+            T = tframe-vTimestamps[ni-1];
+
+        if(ttrack<T)
+            usleep((T-ttrack)*1e6);
+    }
+
+    // Stop all threads
+    SLAM.Shutdown();
+
+    // Tracking time statistics
+    sort(vTimesTrack.begin(),vTimesTrack.end());
+    float totaltime = 0;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        totaltime+=vTimesTrack[ni];
+    }
+    cout << "-------" << endl << endl;
+    cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
+    cout << "mean tracking time: " << totaltime/nImages << endl;
+
+    // Save camera trajectory
+    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
+
+    return 0;
+}
+
+void LoadImages(const string &strFile, vector<string> &vstrImageFilenames, vector<double> &vTimestamps)
+{
+    ifstream f;
+    f.open(strFile.c_str());
+
+    // skip first three lines
+    string s0;
+    getline(f,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 >> t;
+            vTimestamps.push_back(t);
+            ss >> sRGB;
+            vstrImageFilenames.push_back(sRGB);
+        }
+    }
+}