Merged requested to merge ReleaseV1.4 into master
Releases the SLAM v1.4.
This release isn't on master, as some important changes have been recently done. As they might impact a lot the SLAM results, and as they have not been heavily tested, this release sticks on previous "classical" approach and architecture.
This release will probably be the last of the 1.x versions as important architecture changes are being developed.