adding files

CMakeLists.txt

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+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")
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Cholmod REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${EIGEN3_INCLUDE_DIR}
+${CHOLMOD_INCLUDE_DIR}
+)
+
+rosbuild_add_executable(${PROJECT_NAME}
+src/main.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FramePublisher.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Map.cc
+src/MapPublisher.cc
+src/Optimizer.cc
+src/PnPsolver.cc
+src/Frame.cc
+src/KeyFrameDatabase.cc
+src/Sim3Solver.cc
+src/Initializer.cc
+)
+rosbuild_add_boost_directories()
+rosbuild_link_boost(${PROJECT_NAME} thread)
+
+target_link_libraries(${PROJECT_NAME}
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+cholmod
+${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_core.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_cholmod.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_dense.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_stuff.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sba.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sim3.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_slam3d.so
+)
+

Data/Settings.yaml

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+%YAML:1.0
+
+# Camera Parameters. Adjust them!
+
+# Camera calibration parameters (OpenCV) 
+Camera.fx: 609.2855
+Camera.fy: 609.3422 
+Camera.cx: 351.4274
+Camera.cy: 237.7324
+
+# Camera distortion paremeters (OpenCV) --
+Camera.k1: -0.3492
+Camera.k2: 0.1363
+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
+
+#--------------------------------------------------------------------------------------------
+### Changing the parameters below could seriously degradate the performance of the system
+
+# 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 (lower less restrictive)			
+ORBextractor.fastTh: 20
+
+# ORB Extractor: Score to sort features. 0 -> Harris Score, 1 -> FAST Score			
+ORBextractor.nScoreType: 1
+
+
+# Constant Velocity Motion Model (0 - disabled, 1 - enabled [recommended])
+UseMotionModel: 1

Data/rviz.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Marker1
+        - /Marker1/Namespaces1
+      Splitter Ratio: 0.5
+    Tree Height: 514
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /ORB_SLAM/Map
+      Name: Marker
+      Namespaces:
+        Camera: true
+        Graph: true
+        KeyFrames: true
+        MapPoints: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Fixed Frame: /ORB_SLAM/Camera
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.996
+      Focal Point:
+        X: -0.111169
+        Y: -0.187361
+        Z: 0.713479
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: -0.854796
+      Target Frame: /ORB_SLAM/Camera
+      Value: Orbit (rviz)
+      Yaw: 4.6604
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 795
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000010f00000291fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000291000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000291fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000291000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a10000003efc0100000002fb0000000800540069006d00650100000000000003a1000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000028c0000029100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 929
+  X: 590
+  Y: 174

Data/rviz.vcg

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+Background\ ColorB=1
+Background\ ColorG=1
+Background\ ColorR=1
+Camera\ Config=-1.3748 4.59369 4.31087 0.0334986 -0.381037 1.14662
+Camera\ Type=rviz::OrbitViewController
+Fixed\ Frame=/ORB_SLAM/Camera
+Marker.Camera=1
+Marker.Enabled=1
+Marker.Graph=1
+Marker.KeyFrames=1
+Marker.MapPoints=1
+Marker.Marker\ Topic=/ORB_SLAM/Map
+Marker.Queue\ Size=100
+Property\ Grid\ Splitter=502,78
+Property\ Grid\ State=expanded=.Global Options,Marker.Enabled;splitterratio=0.5
+QMainWindow=000000ff00000000fd00000003000000000000011d00000296fc0200000002fb000000100044006900730070006c006100790073010000001d00000296000000ee00fffffffb0000000a00560069006500770073000000011c000000f8000000bb00ffffff00000001000001310000026ffc0200000002fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000001d000000a00000006700fffffffb0000001200530065006c0065006300740069006f006e00000001b1000000db0000006700ffffff00000003000003910000003efc0100000001fb0000000800540069006d0065010000000000000391000002bf00ffffff0000026e0000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+Target\ Frame=/ORB_SLAM/Camera
+Tool\ 2D\ Nav\ GoalTopic=/move_base_simple/goal
+Tool\ 2D\ Pose\ EstimateTopic=initialpose
+[Display0]
+ClassName=rviz::MarkerDisplay
+Name=Marker
+[Window]
+Height=795
+Width=929
+X=734
+Y=-28

ExampleFuerte.launch

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+<launch>
+
+   <node pkg="image_view" type="image_view" name="image_view" respawn="false" output="log">
+	<remap from="/image" to="/ORB_SLAM/Frame" />
+	<param name="autosize" value="true"/>
+	</node>
+
+	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ORB_SLAM)/Data/rviz.vcg" output="log">
+   </node>
+
+ 	<node pkg="ORB_SLAM" type="ORB_SLAM" name="ORB_SLAM"  args="Data/ORBvoc.yml Data/Settings.yaml" cwd="node" output="screen">
+   </node>
+
+</launch>

ExampleGroovyHydro.launch

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+<launch>
+
+   <node pkg="image_view" type="image_view" name="image_view" respawn="false" output="log">
+	<remap from="/image" to="/ORB_SLAM/Frame" />
+	<param name="autosize" value="true"/>
+	</node>
+
+	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ORB_SLAM)/Data/rviz.rviz" output="log">
+   </node>
+
+ 	<node pkg="ORB_SLAM" type="ORB_SLAM" name="ORB_SLAM"  args="Data/ORBvoc.yml Data/Settings.yaml" cwd="node" output="screen">
+   </node>
+
+</launch>