Add ros files

roslaunch/Hamlyn02.launch

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+<launch>
+
+   <node pkg="ORB_SLAM2" type="Mono" name="ORB_SLAM2"  args="../../../Vocabulary/ORBvoc.txt ../../../rossettings/Settings_Hamlyn02.yaml" cwd="node" output="screen">
+	</node>
+
+</launch>

roslaunch/cam_ORB2.launch

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+<launch>
+
+   <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+	<param name="video_device" value="/dev/video1" />
+   	<param name="image_width" value="1024" />
+    	<param name="image_height" value="768" />
+    	<param name="pixel_format" value="yuyv" />
+    	<param name="camera_frame_id" value="camera" />
+    	<param name="io_method" value="mmap"/>
+    	<remap from="/usb_cam/image_raw" to="/camera/image_raw" />
+  	</node>
+
+   <node pkg="ORB_SLAM2" type="Mono" name="ORB_SLAM2"  args="../../../Vocabulary/ORBvoc.txt ../../../rossettings/Settings_Cam.yaml" cwd="node" output="screen">
+	</node>
+
+</launch>

rossettings/Settings_Cam.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 1271.2646
+Camera.fy: 1276.0352 
+Camera.cx: 330.3848
+Camera.cy: 245.6502
+
+Camera.k1: -0.50344
+Camera.k2: 1.81448
+Camera.p1: 0.0
+Camera.p2: 0.0
+Camera.k3: 0.0
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Display output in color (1) or grayscale (0)
+Camera.colorPub: 1
+
+#--------------------------------------------------------------------------------------------
+### Output data to save
+
+# Statistics from the Tracking (Window 1)
+Output.StatsW1: 1
+
+# Statistics from the Mapping (Window 2)
+Output.StatsW2: 1
+
+# Statistics from the MapPoint creation (Window 3)
+Output.StatsW3: 1
+
+# Statistics from the PnP
+Output.StatsPnP: 0
+
+# Statistics from the Non-Linear Optimization
+Output.StatsNLOpt: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+

rossettings/Settings_Hamlyn02.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+
+Camera.fx: 381.914307
+Camera.fy: 383.797882
+Camera.cx: 168.108963
+Camera.cy: 126.979446
+
+Camera.k1: -0.333236
+Camera.k2: 0.925076
+Camera.p1: 0.003847
+Camera.p2: 0.000916
+Camera.k3: 0.0
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Display output in color (1) or grayscale (0)
+Camera.colorPub: 1
+
+#--------------------------------------------------------------------------------------------
+### Output data to save
+
+# Statistics from the Tracking (Window 1)
+Output.StatsW1: 1
+
+# Statistics from the Mapping (Window 2)
+Output.StatsW2: 1
+
+# Statistics from the MapPoint creation (Window 3)
+Output.StatsW3: 1
+
+# Statistics from the PnP
+Output.StatsPnP: 0
+
+# Statistics from the Non-Linear Optimization
+Output.StatsNLOpt: 1
+
+
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1200
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.1
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 6
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 24
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500