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 ORB-SLAM2
 ===============
 
-初期検討で使ったORB-SLAM
\ No newline at end of file
+食道内の移動に関して初期検討で使ったORB-SLAM
+https://github.com/phdsky/ORBSLAM24Windows
+のオープンソースを参照してください．
+
+
+##　動作環境
+以下の2つの環境で動作を確認
+①プロセッサ，Intel(R) Core(TM) i7-6500U CPU @ 2.50GHz
+ メモリ, 8.00GB
+ OS, Windows10
+ IDE, visual studio 2015
+
+②プロセッサ，Intel(R) Core(TM) i7-6700 CPU @ 3.40GH
+ メモリ, 16.00GB
+ OS, Windows10
+ GPU, GeForce GTX 970
+ ライブラリ, CUDA 8.0
+ IDE, visual studio 2015
+
+
+## Thanks
+Original ORBSLAM2 project: ORB_SLAM2
+Eigen and Pangolin in Thirdparty are extracted from Phylliida/orbslam-windows/Thirdparty
+## Prerequisite
+OpenCV
+Version is not required, but not too old. In this tutorial is 2.4.13.
+Add YOUR_OWN_PATH\opencv\build; YOUR_OWN_PATH\opencv\build\x64\vc12\bin; to your environment variable "PATH", you can also add YOUR_OWN_PATH\opencv\build\x86\vc12\bin; if you want to bulid a x86 type application.
+Cmake
+Version should at least be 2.8.
+Visual Studio
+In this tutorial is VS2013(Corresponding to opencv's vc12).
+So, we'll build a visual studio 2013 project of ORB_SLAM2 using cmake and then make a x64 app.
+
+## Steps
+First, we'll compile the projects in Thirdparty folder.
+
+## DBoW2
+Open cmake-gui, select DBow2 folder as the source path and the DBow2/build folder as the binaries path.
+Click configure, select Visual Studio 12 2013 Win64(or your own) as the generator, click finish.
+After configure done, click Generate.
+Go to the DBow2/build folder, double click the DBoW2.sln to open the peoject.
+Build ALL_BUILD in either debug or release mode you want.
+After success build, the libraries will be in the lib folder of the DBow2 project source folder.
+## eigen
+eigen is not need to be built
+
+## g2o
+Open cmake-gui, select g2o folder as the source path and the g2o/build folder as the binaries path.
+Click configure, select Visual Studio 12 2013 Win64(or your own) as the generator, click finish.
+After configure done, click Generate.
+Go to the g2o/build folder, double click the g2o.sln to open the peoject.
+Right click on the g2o project->Properties->C/C++->Preprocessor Definitions, add WINDOWS at the end row, click Apply and OK.
+Build ALL_BUILD in either debug or release mode you want. (Remind to repeat step 5 && Mode should be the same as DBoW2)
+After success build, the libraries will be in the lib folder of the g2o project source folder.
+## Pangolin
+Open cmake-gui, select Pangolin folder as the source path and the Pangolin/build folder as the binaries path.
+Click configure, select Visual Studio 12 2013 Win64(or your own) as the generator, click finish.
+After configure done, click Generate.
+Go to the Pangolin/build folder, double click the Pangolin.sln to open the peoject.
+Build ALL_BUILD in either debug or release mode you want. (Mode should be the same as DBoW2 && g2o).
+You'll get a error of "cannot open input file 'pthread.lib'", just ignore it.
+After success build, the libraries will be in the lib folder of the Pangolin project source folder.
+## ORBSLAM24Windows
+Open cmake-gui, select ORBSLAM24Windows folder as the source path and the ORBSLAM24Windows/build folder as the binaries path.
+Click configure, select Visual Studio 12 2013 Win64(or your own) as the generator, click finish.
+After configure done, click Generate.
+Go to the ORBSLAM24Windows/build folder, double click the ORB_SLAM2.sln to open the peoject.
+Choose either debug or release mode you want. (Mode should be the same as DBoW2 && g2o && Pangolin).
+Right click the ORB_SLAM2 project and then click generate.
+After success build, the libraries will be in the lib folder of the ORB_SLAM2 project source folder.
+## Applications
+If you want to make apps, you can also build the mono-stero-RGBD projects provided.
+
+Take mono_tum app as an example, you can follow the steps below.
+
+Go to the ORBSLAM24Windows/build folder, double click the ORB_SLAM2.sln to open the peoject.
+Choose either debug or release mode you want. (Build mode should be the same as DBoW2 && g2o && Pangolin && ORB_SLAM2).
+Right click the mono_tum project and then click generate.
+Download tum dataset sequence, for example freiburg2_desk
+Right click the mono_tum project and then click Property->Config Property->Debug, input three parameters (Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_sequence, the first can be ignored in windows)
+path_to_vocabulary In ORBSLAM24Windows/Vocabulary folder, unpack the tar, a .txt file
+path_to_settings In ORBSLAM24Windows/Examples/Monocular folder, rgbd_dataset_freiburg2_desk corresponding to TUM2.yaml
+path_to_sequence rgbd_dataset_freiburg2_desk folder path
+Run app, it'll take a few minutes to load the vocabulary dictionary, and then you'll get the result.
+If you don't satisfied with the speed of loading dictionary, you can reference issue vocabulary convert to convert the txt vocabulary to bin vocabulary, it speeds up a lot.