snt-arg · mgiberna · Apr 17, 2026 · Apr 20, 2026 · Apr 22, 2026 · Jun 4, 2026
diff --git a/.gitignore b/.gitignore
@@ -47,5 +47,4 @@ borrar/*
 
 */ExecMean.txt
 
-!Dockerfile
-docker/docker-compose.yml
+!Dockerfile
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -46,6 +46,8 @@ find_package(Eigen3 3.1.0 REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(segmenter_ros REQUIRED)
+find_package(keyframe_depth_estimator REQUIRED)
+find_package(keyframe_depth_validator REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(rviz_visual_tools REQUIRED)
@@ -66,6 +68,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VSGraphsRoomData.msg"
   "msg/VSGraphsAllWallsData.msg"
   "msg/VSGraphsAllDetectdetRooms.msg"
+  "msg/MapResetEvent.msg"
+  "msg/MapReadyEvent.msg"
+  "msg/MapRescaleEvent.msg"
+  "msg/ImuBiasEstimate.msg"
   DEPENDENCIES std_msgs geometry_msgs sensor_msgs
 )
 
@@ -83,6 +89,8 @@ include_directories(
   ${Pangolin_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
   ${segmenter_ros_INCLUDE_DIRS}
+  ${keyframe_depth_estimator_INCLUDE_DIRS}
+  ${keyframe_depth_validator_INCLUDE_DIRS}
 )
 include_directories(${OPENGL_INCLUDE_DIRS})
 
@@ -210,6 +218,8 @@ ament_target_dependencies(${PROJECT_NAME}_lib
   image_transport
   rviz_visual_tools
   situational_graphs_msgs
+  keyframe_depth_estimator
+  keyframe_depth_validator
 )
 
 # Common source files
@@ -228,6 +238,8 @@ set(COMMON_DEPENDENCIES
   sensor_msgs
   geometry_msgs
   segmenter_ros
+  keyframe_depth_estimator
+  keyframe_depth_validator
   message_filters
   situational_graphs_msgs
 )
@@ -254,6 +266,7 @@ endfunction()
 # ROS2 nodes
 add_ros2_node(ros_rgbd          src/ros_rgbd.cc)
 add_ros2_node(ros_rgbd_inertial src/ros_rgbd_inertial.cc)
+add_ros2_node(ros_mono_inertial src/ros_mono_inertial.cc)
 
 # Install other resources
 install(
@@ -267,4 +280,4 @@ install(TARGETS ${PROJECT_NAME}_lib
 )
 
 # Ament package configuration
-ament_package()
+ament_package()
diff --git a/README.md b/README.md
@@ -43,6 +43,7 @@ Once you have installed the required dependencies and configured the parameters,
 
 > 🛎️ Note: The current version of vS-Graphs supports **ROS2 Jazzy** and is primarily tested on Ubuntu 24.04.2 LTS.
 
+> 🛎️ Note: mono-inertial vS-Graphs is currently under development, having a stable version at commit ea5a79819e5f82a9a420cc4cc6b6709197dbf991
 ## 🐋 Docker
 
 For a fully reproducible, environment-independent setup, see the [Docker](/docker) section.
@@ -73,3 +74,13 @@ To evaluate vS-Graphs against other visual SLAM frameworks, read the [evaluation
 ## 🔑 License
 
 This project is licensed under the GPL-3.0 license - see the [LICENSE](/LICENSE) for more details.
+
+
+## Usage
+
+```bash
+ros2 launch vs_graphs mono-imu.launch.py \
+  launch_keyframe_depth_estimator:=false \
+  keyframe_depth_validator_use_offline_metric_depth:=true \
+  keyframe_depth_validator_offline_sync_tolerance_ms:=20.0
+```
diff --git a/config/Monocular-Inertial/EuRoC.yaml b/config/Monocular-Inertial/EuRoC.yaml
@@ -42,6 +42,7 @@ IMU.T_b_c1: !!opencv-matrix
          0.0, 0.0, 0.0, 1.0]
 
 # IMU noise
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 1.7e-4 #1.6968e-04
 IMU.NoiseAcc: 2.0000e-3 #2.0e-3
 IMU.GyroWalk: 1.9393e-05 
@@ -81,4 +82,3 @@ Viewer.ViewpointX: 0.0
 Viewer.ViewpointY: -1.7
 Viewer.ViewpointZ: 0.8
 Viewer.ViewpointF: -500.0
-
diff --git a/config/Monocular-Inertial/LuxVSD_RS_D435i_640.yaml b/config/Monocular-Inertial/LuxVSD_RS_D435i_640.yaml
@@ -43,6 +43,7 @@ IMU.T_b_c1: !!opencv-matrix
 IMU.InsertKFsWhenLost: 0
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
 IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
 IMU.GyroWalk: 1e-6 # rad/s^1.5

diff --git a/config/Monocular-Inertial/RealSense_D435i.yaml b/config/Monocular-Inertial/RealSense_D435i.yaml
@@ -43,6 +43,7 @@ IMU.T_b_c1: !!opencv-matrix
 IMU.InsertKFsWhenLost: 0
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
 IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
 IMU.GyroWalk: 1e-6 # rad/s^1.5

diff --git a/config/Monocular-Inertial/RealSense_T265.yaml b/config/Monocular-Inertial/RealSense_T265.yaml
@@ -43,6 +43,7 @@ IMU.T_b_c1: !!opencv-matrix
 IMU.InsertKFsWhenLost: 0
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 0.000005148030141 # rad/s^0.5 
 IMU.NoiseAcc: 0.000066952452471 # m/s^1.5
 IMU.GyroWalk: 0.000000499999999 # rad/s^1.5

diff --git a/config/Monocular-Inertial/TUM-VI.yaml b/config/Monocular-Inertial/TUM-VI.yaml
@@ -41,6 +41,7 @@ IMU.T_b_c1: !!opencv-matrix
           0.0, 0.0, 0.0, 1.0]
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 0.00016 # rad/s^0.5 
 IMU.NoiseAcc: 0.0028 # m/s^1.5
 IMU.GyroWalk: 0.000022 # rad/s^1.5

diff --git a/config/Monocular-Inertial/TUM-VI_far.yaml b/config/Monocular-Inertial/TUM-VI_far.yaml
@@ -42,6 +42,7 @@ IMU.T_b_c1: !!opencv-matrix
 
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016    # rad/s^0.5 
 IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028     # m/s^1.5
 IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5

diff --git a/config/Monocular-Inertial/UniLu_RealSense_D435i_640.yaml b/config/Monocular-Inertial/UniLu_RealSense_D435i_640.yaml
@@ -43,11 +43,12 @@ IMU.T_b_c1: !!opencv-matrix
 IMU.InsertKFsWhenLost: 0
 
 # IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
 IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
 IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
 IMU.GyroWalk: 1e-6 # rad/s^1.5
 IMU.AccWalk: 1e-4 # m/s^2.5
-IMU.Frequency: 200.0
+IMU.Frequency: 400.0
 
 #--------------------------------------------------------------------------------------------
 # ORB Parameters

diff --git a/config/Monocular-Inertial/UniLu_RealSense_D435i_640_g2step4rerun.yaml b/config/Monocular-Inertial/UniLu_RealSense_D435i_640_g2step4rerun.yaml
@@ -0,0 +1,90 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them! (RealSense D435 camera - Serial Number: 044322070965)
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Rectified Camera calibration (OpenCV)
+Camera1.fx: 605.856689453125
+Camera1.fy: 606.26611328125
+Camera1.cx: 325.021026611328
+Camera1.cy: 244.760711669922
+
+# Distortion parameters
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+# Camera resolution
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Transformation from body-frame (imu) to left camera
+IMU.T_b_c1: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: f
+   data: [1,0,0,-0.005,
+         0,1,0,-0.005,
+         0,0,1,0.0117,
+         0.0, 0.0, 0.0, 1.0]
+
+# Do not insert KFs when recently lost
+IMU.InsertKFsWhenLost: 0
+
+# G2 Step 4 rerun (patched backend): enable IMU-aided relocalization during
+# RECENTLY_LOST, ported from BinoSLAM. Off by default upstream in this fork;
+# turned on here only, so this file is a rerun-only copy of
+# UniLu_RealSense_D435i_640.yaml, not a shared-config edit.
+IMU.ImuAidedReloc: 1
+
+# IMU noise (Use those from VINS-mono)
+IMU.Threshold: 0.5      # Default: 0.5
+IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
+IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
+IMU.GyroWalk: 1e-6 # rad/s^1.5
+IMU.AccWalk: 1e-4 # m/s^2.5
+IMU.Frequency: 400.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1250
+
+# 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: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0
diff --git a/config/Monocular-Inertial/uHumans2_TESSE.yaml b/config/Monocular-Inertial/uHumans2_TESSE.yaml
@@ -0,0 +1,91 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. TESSE simulator (uHumans2 dataset) - left_cam
+# Extracted directly from the recorded bag:
+#   /tesse/left_cam/camera_info  -> intrinsics (720x480, fx=fy=415.692, cx=360, cy=240, zero distortion)
+#   /tf_static (base_link_gt -> left_cam) -> IMU.T_b_c1 (t=[0,0.05,0], q=[0.5,-0.5,0.5,-0.5])
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Rectified Camera calibration (OpenCV)
+Camera1.fx: 415.69219381653056
+Camera1.fy: 415.69219381653056
+Camera1.cx: 360.0
+Camera1.cy: 240.0
+
+# Distortion parameters (TESSE renders undistorted images)
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+# Camera resolution
+Camera.width: 720
+Camera.height: 480
+
+# Camera frames per second (measured from consecutive /tesse/left_cam header stamps, median dt=0.1s)
+Camera.fps: 10
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Transformation from body-frame (imu, "base_link_gt") to left camera ("left_cam")
+# Derived from the bag's own /tf_static: t=[0, 0.05, 0], q=[x=0.5, y=-0.5, z=0.5, w=-0.5]
+IMU.T_b_c1: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: f
+   data: [0.0, 0.0, 1.0, 0.0,
+         -1.0, 0.0, 0.0, 0.05,
+         0.0, -1.0, 0.0, 0.0,
+         0.0, 0.0, 0.0, 1.0]
+
+# Do not insert KFs when recently lost
+IMU.InsertKFsWhenLost: 0
+
+# IMU noise - TESSE's actual simulated noise model is not recorded in the bag;
+# these are generic starting values (same family as VINS-mono defaults used in the
+# other configs here). Tune IMU.NoiseGyro/NoiseAcc/GyroWalk/AccWalk against the
+# /tesse/imu/clean/imu vs /tesse/imu/noisy/imu topics if initialization remains unstable.
+IMU.Threshold: 0.5
+IMU.NoiseGyro: 1e-3
+IMU.NoiseAcc: 1e-2
+IMU.GyroWalk: 1e-6
+IMU.AccWalk: 1e-4
+IMU.Frequency: 200.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1250
+
+# 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: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0