- 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.