Python-orb-slam3

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](https://arxiv.org/pdf/1610.05949.pdf)

- 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.