compile in debian; and created live demo;

CMakeLists.txt

@@ -99,6 +99,10 @@ target_link_libraries(stereo_euroc ${PROJECT_NAME})
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
 
+add_executable(mono_live
+Examples/Monocular/mono_live.cc)
+target_link_libraries(mono_live ${PROJECT_NAME})
+
 add_executable(mono_tum
 Examples/Monocular/mono_tum.cc)
 target_link_libraries(mono_tum ${PROJECT_NAME})

Examples/Monocular/mono_euroc.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

Examples/Monocular/mono_kitti.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<chrono>
 #include<iomanip>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

Examples/Monocular/mono_live.cc

@@ -0,0 +1,132 @@
+/**
+* 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 <unistd.h>
+
+#include<opencv2/core/core.hpp>
+
+#include<System.h>
+
+#include <sys/time.h>
+double currentTime(){
+  struct timeval tp;
+  gettimeofday(&tp, NULL);
+  long int ms = tp.tv_sec * 1000 + tp.tv_usec / 1000;
+  return ms/1000.;
+}
+
+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";
+    cv::VideoCapture capture;
+    capture.open(atoi(argv[3]));
+    if (!capture.isOpened()){fprintf(stderr,"fail to open %s.\n",argv[3]);exit(-1);}
+
+    int nImages = 1<<16;
+
+    // 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);
+    vTimestamps.resize(nImages);
+    for(int ni=0; ni<nImages; ni++){
+      vTimestamps[ni]=ni*0.03333333;
+    }
+
+    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
+        capture >> im;
+        double tframe = vTimestamps[ni];
+
+        if(im.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(argv[3]) << "/" << vstrImageFilenames[ni] << endl;
+            return 1;
+        }
+
+        double t1 = currentTime();
+
+        // Pass the image to the SLAM system
+        SLAM.TrackMonocular(im,tframe);
+
+        double t2 = currentTime();
+        double ttrack = t2-t1;
+
+        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;
+}

Examples/Monocular/mono_tum.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

Examples/RGB-D/rgbd_tum.cc

@@ -23,6 +23,7 @@
 #include<algorithm>
 #include<fstream>
 #include<chrono>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

Examples/Stereo/stereo_euroc.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<iomanip>
 #include<chrono>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

Examples/Stereo/stereo_kitti.cc

@@ -24,6 +24,7 @@
 #include<fstream>
 #include<iomanip>
 #include<chrono>
+#include <unistd.h>
 
 #include<opencv2/core/core.hpp>
 

build.sh

@@ -1,19 +1,23 @@
-echo "Configuring and building Thirdparty/DBoW2 ..."
+#!/usr/bin/env bash
+
+set -e
+set -v
 
+echo "Configuring and building Thirdparty/DBoW2 ..."
 cd Thirdparty/DBoW2
-mkdir build
+mkdir -p build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+make -j2
 
 cd ../../g2o
 
 echo "Configuring and building Thirdparty/g2o ..."
 
-mkdir build
+mkdir -p build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+make -j2
 
 cd ../../../
 
@@ -25,7 +29,7 @@ cd ..
 
 echo "Configuring and building ORB_SLAM2 ..."
 
-mkdir build
+mkdir -p build
 cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
+make -j2

src/LocalMapping.cc

@@ -24,6 +24,7 @@
 #include "Optimizer.h"
 
 #include<mutex>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {

src/LoopClosing.cc

@@ -30,7 +30,7 @@
 
 #include<mutex>
 #include<thread>
-
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {

src/System.cc

@@ -25,6 +25,7 @@
 #include <thread>
 #include <pangolin/pangolin.h>
 #include <iomanip>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {

src/Tracking.cc

@@ -34,6 +34,7 @@
 #include"PnPsolver.h"
 
 #include<iostream>
+#include <unistd.h>
 
 #include<mutex>
 

src/Viewer.cc

@@ -22,6 +22,7 @@
 #include <pangolin/pangolin.h>
 
 #include <mutex>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {