1. Input a config file (eg. config_indoor_1.txt, config_indoor_2.txt or config_outdoor.txt) to run RKSLAM.exe (e.g. RKSLAM.exe config_indoor_1.txt).

2. Config file
-image_file_name_input: the input sequence.
-imu_file_name_input: the input imu measurements if available.
-calib_file_name: calibration file, which include intrinsic matrix of camera and the relative projective matrix between camera and IMU.
-input_fps: input PFS.
--camera_file_name_output: the generated camera pose file which include the camera poses of all frames.
-simulate_imu: use real IMU measurement (simulate_imu = 0) or simulate IMU measurements (simulate_imu = 1).
--marker_file_name_input: the file which contains the detected A4 marker used for initialization.
--initial_depth: the depth value for initialization, which is useful when real IMU measurements are provided and there is no A4 marker.
--initial_frames: if you set this item, the system will select the first frame and the frame whose index is first frame + initial_frames for initialization, otherwise it will only use the first frame with initial depth value for initialization.

3. Viewer
-Press 'Tab' to switch 2D/3D view.
-Press 'o' to insert a virtual object.
-In 3D view, press left/right button and drag the mouse to rotate/translate the scene, and scroll mouse to zoom in/out.