Merge raulmur/ORB_SLAM2's most recent version into your RT branch

.gitignore

@@ -17,8 +17,23 @@ Examples/Monocular/mono_euroc
 Examples/Monocular/mono_kitti
 Examples/Monocular/mono_tum
 Examples/RGB-D/rgbd_tum
+Examples/ROS/ORB_SLAM2/CMakeLists.txt.user
+Examples/ROS/ORB_SLAM2/Mono
+Examples/ROS/ORB_SLAM2/MonoAR
+Examples/ROS/ORB_SLAM2/RGBD
+Examples/ROS/ORB_SLAM2/Stereo
+Examples/ROS/ORB_SLAM2/build/
 Examples/Stereo/stereo_euroc
 Examples/Stereo/stereo_kitti
+KeyFrameTrajectory.txt
+Thirdparty/DBoW2/build/
+Thirdparty/DBoW2/lib/
+Thirdparty/g2o/build/
+Thirdparty/g2o/config.h
+Thirdparty/g2o/lib/
+Vocabulary/ORBvoc.txt
+build/
+*~
+lib/
 
 Examples/ROS/ORB_VIO/VIO
-

CMakeLists.txt

@@ -28,7 +28,14 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 2.4.3 REQUIRED)
+find_package(OpenCV 3.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 find_package(Cholmod REQUIRED)

Examples/ROS/ORB_SLAM2/CMakeLists.txt

@@ -30,7 +30,14 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
 
-find_package(OpenCV 2.4.3 REQUIRED)
+find_package(OpenCV 3.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 
@@ -59,6 +66,17 @@ target_link_libraries(Mono
 ${LIBS}
 )
 
+# Node for monocular camera (Augmented Reality Demo)
+rosbuild_add_executable(MonoAR
+src/AR/ros_mono_ar.cc
+src/AR/ViewerAR.h
+src/AR/ViewerAR.cc
+)
+
+target_link_libraries(MonoAR
+${LIBS}
+)
+
 # Node for stereo camera
 rosbuild_add_executable(Stereo
 src/ros_stereo.cc