v1

Examples/Stereo/EuRoC.yaml

@@ -0,0 +1,116 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 435.2046959714599
+Camera.fy: 435.2046959714599
+Camera.cx: 367.4517211914062
+Camera.cy: 252.2008514404297
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 752
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# stereo baseline times fx
+Camera.bf: 47.90639384423901
+
+# 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: 35
+
+#--------------------------------------------------------------------------------------------
+# Stereo Rectification. Only if you need to pre-rectify the images.
+# Camera.fx, .fy, etc must be the same as in LEFT.P
+#--------------------------------------------------------------------------------------------
+LEFT.height: 480
+LEFT.width: 752
+LEFT.D: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data:[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+LEFT.K: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
+LEFT.R:  !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
+LEFT.P:  !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [435.2046959714599, 0, 367.4517211914062, 0,  0, 435.2046959714599, 252.2008514404297, 0,  0, 0, 1, 0]
+
+RIGHT.height: 480
+RIGHT.width: 752
+RIGHT.D: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data:[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
+RIGHT.K: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
+RIGHT.R:  !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
+RIGHT.P:  !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1200
+
+# 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/Stereo/KITTI00-02.yaml

@@ -0,0 +1,66 @@
+%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.width: 1241
+Camera.height: 376
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# stereo baseline times fx
+Camera.bf: 386.1448
+
+# 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: 35
+
+#--------------------------------------------------------------------------------------------
+# 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: 0.6
+Viewer.KeyFrameLineWidth: 2
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.7
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -100
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Stereo/KITTI03.yaml

@@ -0,0 +1,66 @@
+%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.width: 1241
+Camera.height: 376
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# stereo baseline times fx
+Camera.bf: 387.5744
+
+# 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
+
+#--------------------------------------------------------------------------------------------
+# 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: 0.6
+Viewer.KeyFrameLineWidth: 2
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.7
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -100
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Stereo/KITTI04-12.yaml

@@ -0,0 +1,66 @@
+%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.width: 1241
+Camera.height: 376
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# stereo baseline times fx
+Camera.bf: 379.8145
+
+# 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
+
+#--------------------------------------------------------------------------------------------
+# 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: 12
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.6
+Viewer.KeyFrameLineWidth: 2
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.7
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -100
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Stereo/stereo_euroc.cc

@@ -0,0 +1,216 @@
+/**
+* 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<iomanip>
+#include<chrono>
+
+#include<opencv2/core/core.hpp>
+
+#include<System.h>
+
+using namespace std;
+
+void LoadImages(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
+                vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps);
+
+int main(int argc, char **argv)
+{
+    if(argc != 6)
+    {
+        cerr << endl << "Usage: ./stereo_euroc path_to_vocabulary path_to_settings path_to_left_folder path_to_right_folder path_to_times_file" << endl;
+        return 1;
+    }
+
+    // Retrieve paths to images
+    vector<string> vstrImageLeft;
+    vector<string> vstrImageRight;
+    vector<double> vTimeStamp;
+    LoadImages(string(argv[3]), string(argv[4]), string(argv[5]), vstrImageLeft, vstrImageRight, vTimeStamp);
+
+    if(vstrImageLeft.empty() || vstrImageRight.empty())
+    {
+        cerr << "ERROR: No images in provided path." << endl;
+        return 1;
+    }
+
+    if(vstrImageLeft.size()!=vstrImageRight.size())
+    {
+        cerr << "ERROR: Different number of left and right images." << endl;
+        return 1;
+    }
+
+    // Read rectification parameters
+    cv::FileStorage fsSettings(argv[2], cv::FileStorage::READ);
+    if(!fsSettings.isOpened())
+    {
+        cerr << "ERROR: Wrong path to settings" << endl;
+        return -1;
+    }
+
+    cv::Mat K_l, K_r, P_l, P_r, R_l, R_r, D_l, D_r;
+    fsSettings["LEFT.K"] >> K_l;
+    fsSettings["RIGHT.K"] >> K_r;
+
+    fsSettings["LEFT.P"] >> P_l;
+    fsSettings["RIGHT.P"] >> P_r;
+
+    fsSettings["LEFT.R"] >> R_l;
+    fsSettings["RIGHT.R"] >> R_r;
+
+    fsSettings["LEFT.D"] >> D_l;
+    fsSettings["RIGHT.D"] >> D_r;
+
+    int rows_l = fsSettings["LEFT.height"];
+    int cols_l = fsSettings["LEFT.width"];
+    int rows_r = fsSettings["RIGHT.height"];
+    int cols_r = fsSettings["RIGHT.width"];
+
+    if(K_l.empty() || K_r.empty() || P_l.empty() || P_r.empty() || R_l.empty() || R_r.empty() || D_l.empty() || D_r.empty() ||
+            rows_l==0 || rows_r==0 || cols_l==0 || cols_r==0)
+    {
+        cerr << "ERROR: Calibration parameters to rectify stereo are missing!" << endl;
+        return -1;
+    }
+
+    cv::Mat M1l,M2l,M1r,M2r;
+    cv::initUndistortRectifyMap(K_l,D_l,R_l,P_l.rowRange(0,3).colRange(0,3),cv::Size(cols_l,rows_l),CV_32F,M1l,M2l);
+    cv::initUndistortRectifyMap(K_r,D_r,R_r,P_r.rowRange(0,3).colRange(0,3),cv::Size(cols_r,rows_r),CV_32F,M1r,M2r);
+
+
+    const int nImages = vstrImageLeft.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::STEREO,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 imLeft, imRight, imLeftRect, imRightRect;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        // Read left and right images from file
+        imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED);
+        imRight = cv::imread(vstrImageRight[ni],CV_LOAD_IMAGE_UNCHANGED);
+
+        if(imLeft.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(vstrImageLeft[ni]) << endl;
+            return 1;
+        }
+
+        if(imRight.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(vstrImageRight[ni]) << endl;
+            return 1;
+        }
+
+        cv::remap(imLeft,imLeftRect,M1l,M2l,cv::INTER_LINEAR);
+        cv::remap(imRight,imRightRect,M1r,M2r,cv::INTER_LINEAR);
+
+        double tframe = vTimeStamp[ni];
+
+
+#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 images to the SLAM system
+        SLAM.TrackStereo(imLeftRect,imRightRect,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 = vTimeStamp[ni+1]-tframe;
+        else if(ni>0)
+            T = tframe-vTimeStamp[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.SaveTrajectoryTUM("CameraTrajectory.txt");
+
+    return 0;
+}
+
+void LoadImages(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
+                vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps)
+{
+    ifstream fTimes;
+    fTimes.open(strPathTimes.c_str());
+    vTimeStamps.reserve(5000);
+    vstrImageLeft.reserve(5000);
+    vstrImageRight.reserve(5000);
+    while(!fTimes.eof())
+    {
+        string s;
+        getline(fTimes,s);
+        if(!s.empty())
+        {
+            stringstream ss;
+            ss << s;
+            vstrImageLeft.push_back(strPathLeft + "/" + ss.str() + ".png");
+            vstrImageRight.push_back(strPathRight + "/" + ss.str() + ".png");
+            double t;
+            ss >> t;
+            vTimeStamps.push_back(t/1e9);
+
+        }
+    }
+}

Examples/Stereo/stereo_kitti.cc

@@ -0,0 +1,166 @@
+/**
+* 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<iomanip>
+#include<chrono>
+
+#include<opencv2/core/core.hpp>
+
+#include<System.h>
+
+#define COMPILEDWITHC11
+
+using namespace std;
+
+void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
+                vector<string> &vstrImageRight, vector<double> &vTimestamps);
+
+int main(int argc, char **argv)
+{
+    if(argc != 4)
+    {
+        cerr << endl << "Usage: ./stereo_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl;
+        return 1;
+    }
+
+    // Retrieve paths to images
+    vector<string> vstrImageLeft;
+    vector<string> vstrImageRight;
+    vector<double> vTimestamps;
+    LoadImages(string(argv[3]), vstrImageLeft, vstrImageRight, vTimestamps);
+
+    const int nImages = vstrImageLeft.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::STEREO,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 imLeft, imRight;
+    for(int ni=0; ni<nImages; ni++)
+    {
+        // Read left and right images from file
+        imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED);
+        imRight = cv::imread(vstrImageRight[ni],CV_LOAD_IMAGE_UNCHANGED);
+        double tframe = vTimestamps[ni];
+
+        if(imLeft.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(vstrImageLeft[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 images to the SLAM system
+        SLAM.TrackStereo(imLeft,imRight,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.SaveTrajectoryKITTI("CameraTrajectory.txt");
+
+    return 0;
+}
+
+void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
+                vector<string> &vstrImageRight, 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/";
+    string strPrefixRight = strPathToSequence + "/image_1/";
+
+    const int nTimes = vTimestamps.size();
+    vstrImageLeft.resize(nTimes);
+    vstrImageRight.resize(nTimes);
+
+    for(int i=0; i<nTimes; i++)
+    {
+        stringstream ss;
+        ss << setfill('0') << setw(6) << i;
+        vstrImageLeft[i] = strPrefixLeft + ss.str() + ".png";
+        vstrImageRight[i] = strPrefixRight + ss.str() + ".png";
+    }
+}