How to run EuRoC Dataset (mono and stereo)

README.md

@@ -3,7 +3,7 @@
 
 **Current version:** 1.0.0 
 
-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](https://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, and in the [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular. We also provide a ROS node to process live monocular 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.
+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](https://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, in the [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular, and in the [EuRoC dataset](https://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.
 
 #####Videos showing ORB-SLAM2:
 <a href="https://www.youtube.com/watch?feature=player_embedded&v=dF7_I2Lin54
@@ -92,7 +92,7 @@ chmod +x build.sh
 ./build.sh
 ```
 
-This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono_tum**, **mono_kitti**, **rgbd_tum**, **stereo_kitti** in *Examples* folder.
+This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono_tum**, **mono_kitti**, **rgbd_tum**, **stereo_kitti**, **mono_euroc** and **stereo_euroc** in *Examples* folder.
 
 #4. Monocular Examples
 
@@ -114,7 +114,20 @@ This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono
 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
 ```
 
-#5. Stereo Example
+## EuRoC Dataset
+
+1. Download a sequence (ASL format) from https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
+
+2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
+```
+./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 
+```
+
+```
+./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 
+```
+
+#5. Stereo Examples
 
 ## KITTI Dataset
 
@@ -125,6 +138,18 @@ This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono
 ./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
 ```
 
+## EuRoC Dataset
+
+1. Download a sequence (ASL format) from https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
+
+2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
+```
+./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/mav0/cam0/data PATH_TO_SEQUENCE/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt
+```
+```
+./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data PATH_TO_SEQUENCE/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt
+```
+
 #6. RGB-D Example
 
 ## TUM Dataset