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