Update Readme and example scripts

README.md

@@ -1,7 +1,7 @@
 # ORB-SLAM3
 
 ### V0.2: Beta version, 21 Jul 2020
-**Authors:** [Carlos Campos], [Richard Elvira], [Juan J. Gómez], [José M. M. Montiel](http://webdiis.unizar.es/~josemari/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/).
+**Authors:** Carlos Campos, Richard Elvira, Juan J. Gómez, [José M. M. Montiel](http://webdiis.unizar.es/~josemari/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/).
 
 ORB-SLAM3 is the first real time SLAM library able to perform **Visual, Visual-Inertial and Multi-Map SLAM** with **monocular, stereo and RGB-D** cameras, using **pin-hole and fisheye** lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate. 
 
@@ -90,12 +90,28 @@ EuRoC had been recorder with two pinhole cameras and an inertial sensor, we prov
 Each example can be executed in the console, you need to copy the command and change "$pathDatasetEuroc" by the path of the dataset.
 
 ## Evaluation
+EuRoC provides a ground truth for each sequence in the inertial body reference. A pure visual execution report the trajectory centered in the left camera. Hence, we provide in the "evaluation" folder the transformation of the  ground truth centered in the left camera reference. The inertial trajectories use the ground truth from the dataset.
+
 
 
 
 # 5. TUM-VI Examples
-TUM-VI had been recorder with two fisheye cameras and an inertial sensor. Ground truth is only measured in a room where each sequence starts and ends, as a result the error measures the drift at the end of the sequence.
+TUM-VI had been recorder with two fisheye cameras and an inertial sensor.
 
 
 1. Download a sequence from https://vision.in.tum.de/data/datasets/visual-inertial-dataset and uncompress it.
 
+2. Open the script "tum_vi_examples.sh" in the root of the project. Change the value of **pathDatasetTUM_VI** variable by the path where the dataset has been uncompress. 
+
+3. Execute the following script to process all the sequences with all sensor configurations
+```
+./tum_vi_examples
+```
+
+Each example can be executed in the console, you need to copy the command and change "$pathDatasetTUM_VI" by the path of the dataset.
+
+## Evaluation
+Ground truth is only measured in a room where each sequence starts and ends, as a result the error measures the drift at the end of the sequence. 
+
+
+

euroc_examples.sh

@@ -4,179 +4,179 @@ pathDatasetEuroc='/Datasets/EuRoC' #Example, it is necesary to change it by the
 #------------------------------------
 # Monocular Examples
 echo "Launching MH01 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono
 
 echo "Launching MH02 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt dataset-MH02_mono
 
 echo "Launching MH03 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono
 
 echo "Launching MH04 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono
 
 echo "Launching MH05 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH05_mono
 
 echo "Launching V101 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt dataset-V101_mono
 
 echo "Launching V102 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt dataset-V102_mono
 
 echo "Launching V103 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt dataset-V103_mono
 
 echo "Launching V201 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt dataset-V201_mono
 
 echo "Launching V202 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt dataset-V202_mono
 
 echo "Launching V203 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt dataset-V203_mono
 
 # MultiSession Monocular Examples
 echo "Launching Machine Hall with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_mono
 
 echo "Launching Vicon Room 1 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_mono
 
 echo "Launching Vicon Room 2 with Monocular sensor"
-./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_mono
 
 #------------------------------------
 # Stereo Examples
 echo "Launching MH01 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
 
 echo "Launching MH02 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereo
 
 echo "Launching MH03 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo
 
 echo "Launching MH04 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo
 
 echo "Launching MH05 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereo
 
 echo "Launching V101 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt dataset-V101_stereo
 
 echo "Launching V102 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt dataset-V102_stereo
 
 echo "Launching V103 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt dataset-V103_stereo
 
 echo "Launching V201 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt dataset-V201_stereo
 
 echo "Launching V202 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt dataset-V202_stereo
 
 echo "Launching V203 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt dataset-V203_stereo
 
 # MultiSession Stereo Examples
 echo "Launching Machine Hall with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo
 
 echo "Launching Vicon Room 1 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereo
 
 echo "Launching Vicon Room 2 with Stereo sensor"
-./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereo
 
 #------------------------------------
 # Monocular-Inertial Examples
 echo "Launching MH01 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
 
 echo "Launching MH02 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_monoi
 
 echo "Launching MH03 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_monoi
 
 echo "Launching MH04 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_monoi
 
 echo "Launching MH05 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_monoi
 
 echo "Launching V101 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_monoi
 
 echo "Launching V102 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi
 
 echo "Launching V103 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_monoi
 
 echo "Launching V201 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_monoi
 
 echo "Launching V202 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_monoi
 
 echo "Launching V203 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_monoi
 
 # MultiSession Monocular Examples
 echo "Launching Machine Hall with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi
 
 echo "Launching Vicon Room 1 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_monoi
 
 echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
-./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi
 
 #------------------------------------
 # Stereo-Inertial Examples
 echo "Launching MH01 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi
 
 echo "Launching MH02 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereoi
 
 echo "Launching MH03 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereoi
 
 echo "Launching MH04 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereoi
 
 echo "Launching MH05 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereoi
 
 echo "Launching V101 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi
 
 echo "Launching V102 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_stereoi
 
 echo "Launching V103 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_stereoi
 
 echo "Launching V201 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_stereoi
 
 echo "Launching V202 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_stereoi
 
 echo "Launching V203 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_stereoi
 
 # MultiSession Stereo-Inertial Examples
 echo "Launching Machine Hall with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi
 
 echo "Launching Vicon Room 1 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereoi
 
 echo "Launching Vicon Room 2 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereoi

tum_vi_examples.sh

@@ -3,89 +3,238 @@ pathDatasetTUM_VI='/Datasets/TUM_VI' #Example, it is necesary to change it by th
 
 #------------------------------------
 # Monocular Examples
+echo "Launching Room 1 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_mono
 
+echo "Launching Room 2 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_mono
 
-# MultiSession Monocular Examples
+echo "Launching Room 3 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_mono
+
+echo "Launching Room 4 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_mono
+
+echo "Launching Room 5 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_mono
+
+echo "Launching Room 6 with Monocular sensor"
+./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_mono
 
 
 #------------------------------------
 # Stereo Examples
+echo "Launching Room 1 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_stereo
+
+echo "Launching Room 2 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_stereo
+
+echo "Launching Room 3 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_stereo
+
+echo "Launching Room 4 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_stereo
 
+echo "Launching Room 5 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_stereo
 
-# MultiSession Stereo Examples
+echo "Launching Room 6 with Stereo sensor"
+./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_VI.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_stereo
 
 
 #------------------------------------
 # Monocular-Inertial Examples
+echo "Launching Corridor 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_monoi
+
+echo "Launching Corridor 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_monoi
+
+echo "Launching Corridor 3 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_monoi
+
+echo "Launching Corridor 4 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_monoi
+
+echo "Launching Corridor 5 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_monoi
+
+
+echo "Launching Magistrale 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_monoi
+
+echo "Launching Magistrale 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512
+
+echo "Launching Magistrale 3 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_monoi
+
+echo "Launching Magistrale 4 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_monoi
+
+echo "Launching Magistrale 5 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_monoi
+
+echo "Launching Magistrale 6 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_monoi
+
+
+echo "Launching Outdoor 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors1_512.txt dataset-outdoors1_512_monoi
+
+echo "Launching Outdoor 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors2_512.txt dataset-outdoors2_512_monoi
+
+echo "Launching Outdoor 3 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors3_512.txt dataset-outdoors3_512_monoi
+
+echo "Launching Outdoor 4 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors4_512.txt dataset-outdoors4_512_monoi
+
+echo "Launching Outdoor 5 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors5_512.txt dataset-outdoors5_512_monoi
+
+echo "Launching Outdoor 6 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors6_512.txt dataset-outdoors6_512_monoi
+
+echo "Launching Outdoor 7 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors7_512.txt dataset-outdoors7_512_monoi
+
+echo "Launching Outdoor 8 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors8_512.txt dataset-outdoors8_512_monoi
+
+
+echo "Launching Room 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_monoi
+
+echo "Launching Room 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_monoi
+
+echo "Launching Room 3 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_monoi
+
+echo "Launching Room 4 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi
+
+echo "Launching Room 5 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_monoi
+
+echo "Launching Room 6 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_monoi
+
+
+echo "Launching Slides 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_monoi
+
+echo "Launching Slides 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_monoi
+
+echo "Launching Slides 3 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_monoi
 
 
 # MultiSession Monocular Examples
+echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_monoi
 
+echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_monoi
 
 #------------------------------------
 # Stereo-Inertial Examples
 echo "Launching Corridor 1 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_stereoi
 
 echo "Launching Corridor 2 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_stereoi
 
 echo "Launching Corridor 3 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_stereoi
 
 echo "Launching Corridor 4 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_stereoi
 
 echo "Launching Corridor 5 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_stereoi
 
 
 echo "Launching Magistrale 1 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_stereoi
 
 echo "Launching Magistrale 2 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512_stereoi
 
 echo "Launching Magistrale 3 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_stereoi
 
 echo "Launching Magistrale 4 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_stereoi
 
 echo "Launching Magistrale 5 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_stereoi
 
 echo "Launching Magistrale 6 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_stereoi
 
 
 echo "Launching Outdoor 1 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors1_512.txt outdoors1_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors1_512.txt outdoors1_512_stereoi
 
 echo "Launching Outdoor 2 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors2_512.txt outdoors2_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors2_512.txt outdoors2_512_stereoi
 
 echo "Launching Outdoor 3 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors3_512.txt outdoors3_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors3_512.txt outdoors3_512
 
 echo "Launching Outdoor 4 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors4_512.txt outdoors4_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors4_512.txt outdoors4_512
 
 echo "Launching Outdoor 5 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors5_512.txt outdoors5_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors5_512.txt outdoors5_512_stereoi
 
 echo "Launching Outdoor 6 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors6_512.txt outdoors6_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors6_512.txt outdoors6_512_stereoi
 
 echo "Launching Outdoor 7 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors7_512.txt outdoors7_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors7_512.txt outdoors7_512_stereoi
 
 echo "Launching Outdoor 8 with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors8_512.txt outdoors8_512
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors8_512.txt outdoors8_512_stereoi
+
+
+echo "Launching Room 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_stereoi
+
+echo "Launching Room 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_stereoi
+
+echo "Launching Room 3 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_stereoi
+
+echo "Launching Room 4 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_stereoi
+
+echo "Launching Room 5 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_stereoi
+
+echo "Launching Room 6 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_stereoi
+
+
+echo "Launching Slides 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_stereoi
+
+echo "Launching Slides 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_stereoi
+
+echo "Launching Slides 3 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_stereoi
+
 
 # MultiSession Stereo-Inertial Examples
-echo "Launching Room 1, Magistrale 1, MAgistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
-./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1
+echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_stereoi
 
 echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
- ./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456
+./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_stereoi