Updated to V0.3beta

- 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.

Author: richard-elvira

.gitignore

@@ -46,3 +46,4 @@ cmake_modules/
 cmake-build-debug/
 
 *.pyc
+*.osa

Changelog.md

@@ -0,0 +1,26 @@
+# ORB-SLAM3
+Details of changes between the different versions.
+
+### V0.3: Beta version, 4 Sep 2020
+
+- 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 version, 7 Aug 2020
+Initial release. It has these capabilities:
+
+- Multiple-Maps capabilities, it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
+
+- Inertial sensor, the IMU initialization takes a 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
+
+- Fisheye sensor, the fisheye sensors are now fully supported in monocular and stereo. 
+
+

Dependencies.md

@@ -1,5 +1,5 @@
 ##List of Known Dependencies
-###ORB-SLAM3 version 0.2
+###ORB-SLAM3 version 0.3
 
 In this document we list all the pieces of code included  by ORB-SLAM3 and linked libraries which are not property of the authors of ORB-SLAM3.
 

Examples/Monocular/EuRoC.yaml

@@ -16,6 +16,9 @@ Camera.k2: 0.07395907
 Camera.p1: 0.00019359
 Camera.p2: 1.76187114e-05
 
+Camera.width: 752
+Camera.height: 480
+
 # Camera frames per second 
 Camera.fps: 20.0
 

Examples/Monocular/KITTI00-02.yaml

@@ -22,6 +22,10 @@ Camera.fps: 10.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 1241
+Camera.height: 376
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------

Examples/Monocular/KITTI03.yaml

@@ -22,6 +22,10 @@ Camera.fps: 10.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 1241
+Camera.height: 376
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------

Examples/Monocular/KITTI04-12.yaml

@@ -22,6 +22,10 @@ Camera.fps: 10.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 1241
+Camera.height: 376
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------

Examples/Monocular/TUM1.yaml

@@ -23,6 +23,10 @@ Camera.fps: 30.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 640
+Camera.height: 480
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------

Examples/Monocular/TUM2.yaml

@@ -23,6 +23,10 @@ Camera.fps: 30.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 640
+Camera.height: 480
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------

Examples/Monocular/TUM3.yaml

@@ -22,6 +22,10 @@ Camera.fps: 30.0
 # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
 Camera.RGB: 1
 
+# Camera resolution
+Camera.width: 640
+Camera.height: 480
+
 #--------------------------------------------------------------------------------------------
 # ORB Parameters
 #--------------------------------------------------------------------------------------------