Update README.md

README.md

@@ -1,12 +1,16 @@
 # ORB-SLAM2
 **Authors:** [Raul Mur-Artal](http://webdiis.unizar.es/~raulmur/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/), [J. M. M. Montiel](http://webdiis.unizar.es/~josemari/) and [Dorian Galvez-Lopez](http://doriangalvez.com/) ([DBoW2](https://github.com/dorian3d/DBoW2))
 
-**Current version:** 1.0.0 
+**22 Dec 2016**: Added AR demo (see section 7).
 
 ORB-SLAM2 is a real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular, and in the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. **The library can be compiled without ROS**. ORB-SLAM2 provides a GUI to change between a *SLAM Mode* and *Localization Mode*, see section 9 of this document.
 
 <a href="https://www.youtube.com/embed/ufvPS5wJAx0" target="_blank"><img src="http://img.youtube.com/vi/ufvPS5wJAx0/0.jpg" 
 alt="ORB-SLAM2" width="240" height="180" border="10" /></a>
+<a href="https://www.youtube.com/embed/T-9PYCKhDLM" target="_blank"><img src="http://img.youtube.com/vi/T-9PYCKhDLM/0.jpg" 
+alt="ORB-SLAM2" width="240" height="180" border="10" /></a>
+<a href="https://www.youtube.com/embed/kPwy8yA4CKM" target="_blank"><img src="http://img.youtube.com/vi/kPwy8yA4CKM/0.jpg" 
+alt="ORB-SLAM2" width="240" height="180" border="10" /></a>
 
 
 ###Related Publications:
@@ -158,20 +162,18 @@ This will create **libORB_SLAM2.so**  at *lib* folder and the executables **mono
 
 #7. ROS Examples
 
-### Building the nodes for mono, stereo and RGB-D
+### Building the nodes for mono, monoAR, stereo and RGB-D
 1. Add the path including *Examples/ROS/ORB_SLAM2* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM2:
 
   ```
   export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
   ```
 
-2. Go to *Examples/ROS/ORB_SLAM2* folder and execute:
+2. Execute `build_ros.sh` script:
 
   ```
-  mkdir build
-  cd build
-  cmake .. -DROS_BUILD_TYPE=Release
-  make -j
+  chmod +x build_ros.sh
+  ./build_ros.sh
   ```
 
 ### Running Monocular Node
@@ -181,6 +183,14 @@ For a monocular input from topic `/camera/image_raw` run node ORB_SLAM2/Mono. Yo
   rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
   ```
 
+### Running Monocular Augmented Reality Demo
+This is a demo of augmented reality where you can use an interface to insert virtual cubes in planar regions of the scene.
+The node reads images from topic `/camera/image_raw`.
+
+  ```
+  rosrun ORB_SLAM2 MonoAR PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
+  ```
+
 ### Running Stereo Node
 For a stereo input from topic `/camera/left/image_raw` and `/camera/right/image_raw` run node ORB_SLAM2/Stereo. You will need to provide the vocabulary file and a settings file. If you **provide rectification matrices** (see Examples/Stereo/EuRoC.yaml example), the node will recitify the images online, **otherwise images must be pre-rectified**.