v1.0-release

-OpenCV static matrices changed to Eigen matrices. The average code speed-up is 16% in tracking and 19% in mapping, w.r.t. times reported in the ORB-SLAM3 paper.
-New calibration file format, see file Calibration_Tutorial. Added options for stereo rectification and image resizing.
-Added load/save map functionalities.
-Added examples of live SLAM using Intel Realsense cameras.
-Fixed several bugs.

v0.4-beta

V0.4: Beta version

This version of the code used to obtain the experimental results reported in the
TRO paper [1].

• Changed OpenCV dynamic matrices to OpenCV static matrices to speed up the code.

• Capability to measure running time of the system threads.

• Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0)

• Fixed minor bugs.

[1] C. Campos, R. Elvira, J. J. G. Rodríguez, J. M. M. Montiel and J. D. Tardós, "ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3075644. PDF

v0.3-beta

• RGB-D compatibility, the RGB-D examples had been adapted to the new version.

• Kitti and TUM dataset compatibility, these examples had been adapted to the new version.

• ROS compatibility, It had been updated the old references in the code to work with this version.

• Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrong deffined or don't exist.

• Fixed minor bugs.

v0.2-beta

Merge branch 'master' of https://github.com/UZ-SLAMLab/ORB_SLAM3