orb_slam3_details/Changelog.md

# ORB-SLAM3
Details of changes between the different versions.

### V1.0, 22th December 2021

- 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 version, 21st April 2021

- Changed OpenCV dynamic matrices to 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.


### V0.3: Beta version, 4th Sep 2020

- RGB-D compatibility: the RGB-D examples have been adapted to the new version.

- Kitti and TUM dataset compatibility: these examples have been adapted to the new version.

- ROS compatibility: 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 wrongly deffined or does not exist.

- Fixed minor bugs.


### V0.2: Beta version, 7th Aug 2020
Initial release. It has these capabilities:

- Multiple-Map 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 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until it 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 cameras: cameras with wide-angle and fisheye lenses are now fully supported in monocular and stereo.
update 2020-12-01 11:58:17 +08:00			`# ORB-SLAM3`
			`Details of changes between the different versions.`

更新1.0 版本 2022-03-28 21:20:28 +08:00			`### V1.0, 22th December 2021`

			`- 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 version, 21st April 2021`
merge the newest code from author 2021-08-09 19:34:51 +08:00
			`- Changed OpenCV dynamic matrices to static matrices to speed up the code.`

			`- Capability to measure running time of the system threads.`

更新1.0 版本 2022-03-28 21:20:28 +08:00			`- Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0).`
merge the newest code from author 2021-08-09 19:34:51 +08:00
			`- Fixed minor bugs.`


更新1.0 版本 2022-03-28 21:20:28 +08:00			`### V0.3: Beta version, 4th Sep 2020`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- RGB-D compatibility: the RGB-D examples have been adapted to the new version.`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- Kitti and TUM dataset compatibility: these examples have been adapted to the new version.`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- ROS compatibility: updated the old references in the code to work with this version.`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- 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 wrongly deffined or does not exist.`
update 2020-12-01 11:58:17 +08:00
			`- Fixed minor bugs.`


更新1.0 版本 2022-03-28 21:20:28 +08:00			`### V0.2: Beta version, 7th Aug 2020`
update 2020-12-01 11:58:17 +08:00			`Initial release. It has these capabilities:`

更新1.0 版本 2022-03-28 21:20:28 +08:00			`- Multiple-Map 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.`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- Inertial sensor: the IMU initialization takes 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until it 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.`
update 2020-12-01 11:58:17 +08:00
更新1.0 版本 2022-03-28 21:20:28 +08:00			`- Fisheye cameras: cameras with wide-angle and fisheye lenses are now fully supported in monocular and stereo.`
update 2020-12-01 11:58:17 +08:00