diff --git a/CMakeLists.txt b/CMakeLists.txt
index 016e74354d6..27c75923607 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,20 +12,15 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
 
-# Check C++11 or C++0x support
+# Check C++14 support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
-elseif(COMPILER_SUPPORTS_CXX0X)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-   add_definitions(-DCOMPILEDWITHC0X)
-   message(STATUS "Using flag -std=c++0x.")
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
+if(COMPILER_SUPPORTS_CXX14)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+   add_definitions(-DCOMPILEDWITHC14)
+   message(STATUS "Using flag -std=c++14.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
@@ -388,3 +383,23 @@ if(realsense2_FOUND)
             Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
     target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
 endif()
+
+#Install Rule
+install(TARGETS ORB_SLAM3
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+)
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include/${PROJECT_NAME}) #include/ORB_SLAM3
+
+#Uninstall Rule
+if(EXISTS "${CMAKE_BINARY_DIR}/install_manifest.txt")
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
+                 "${CMAKE_BINARY_DIR}/cmake_uninstall.cmake" @ONLY)
+endif()
+
+#for find_package
+configure_file(${CMAKE_SOURCE_DIR}/cmake/ORB_SLAM3Config.cmake.in
+               ${CMAKE_BINARY_DIR}/ORB_SLAM3Config.cmake @ONLY)
+install(FILES ${CMAKE_BINARY_DIR}/ORB_SLAM3Config.cmake
+        DESTINATION lib/cmake/ORB_SLAM3)
diff --git a/Dependencies.md b/Dependencies.md
index 4578a2940f3..eec1082ae73 100644
--- a/Dependencies.md
+++ b/Dependencies.md
@@ -1,10 +1,10 @@
-##List of Known Dependencies
-###ORB-SLAM3 v1.0
+## List of Known Dependencies
+### ORB-SLAM3 v1.0
 
 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.
 
 
-#####Code in **src** and **include** folders
+##### Code in **src** and **include** folders
 
 * *ORBextractor.cc*.
 This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
@@ -21,7 +21,7 @@ The original code is BSD licensed.
 The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
 The code is in the public domain.
 
-#####Code in Thirdparty folder
+##### Code in Thirdparty folder
 
 * All code in **DBoW2** folder.
 This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
@@ -32,7 +32,7 @@ This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All
 * All code in **Sophus** folder.
 This is a modified version of [Sophus](https://github.com/strasdat/Sophus). [MIT license](https://en.wikipedia.org/wiki/MIT_License).
 
-#####Library dependencies 
+##### Library dependencies 
 
 * **Pangolin (visualization and user interface)**.
 [MIT license](https://en.wikipedia.org/wiki/MIT_License).
diff --git a/Examples/Monocular-Inertial/mono_inertial_euroc.cc b/Examples/Monocular-Inertial/mono_inertial_euroc.cc
index b9f320fd76d..c389d09f30e 100644
--- a/Examples/Monocular-Inertial/mono_inertial_euroc.cc
+++ b/Examples/Monocular-Inertial/mono_inertial_euroc.cc
@@ -148,7 +148,7 @@ int main(int argc, char *argv[])
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -158,7 +158,7 @@ int main(int argc, char *argv[])
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -184,7 +184,7 @@ int main(int argc, char *argv[])
                 }
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -194,7 +194,7 @@ int main(int argc, char *argv[])
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc b/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
index c8bf1ff589d..9c8b245b12b 100644
--- a/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
+++ b/Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
@@ -314,7 +314,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -365,7 +365,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -375,7 +375,7 @@ int main(int argc, char **argv) {
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -386,7 +386,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -395,7 +395,7 @@ int main(int argc, char **argv) {
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc b/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
index b4575b6acba..71fae5dc580 100644
--- a/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
+++ b/Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
@@ -230,7 +230,7 @@ int main(int argc, char **argv)
             while(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -257,7 +257,7 @@ int main(int argc, char **argv)
             else
             {
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -267,7 +267,7 @@ int main(int argc, char **argv)
                 int height = imCV.rows * imageScale;
                 cv::resize(imCV, im, cv::Size(width, height));
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -308,7 +308,7 @@ int main(int argc, char **argv)
             }
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -316,7 +316,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im, timestamp, vImuMeas);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc b/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
index bd84ce00121..f3352d4b7a0 100644
--- a/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
+++ b/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
@@ -172,7 +172,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -182,7 +182,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -195,7 +195,7 @@ int main(int argc, char **argv)
             // cout << "first imu: " << first_imu[seq] << endl;
             /*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
             cout << "size vImu: " << vImuMeas.size() << endl;*/
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -205,7 +205,7 @@ int main(int argc, char **argv)
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc
index 3a233129bea..fc5ed0dc91e 100644
--- a/Examples/Monocular/mono_euroc.cc
+++ b/Examples/Monocular/mono_euroc.cc
@@ -109,7 +109,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -119,7 +119,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -129,7 +129,7 @@ int main(int argc, char **argv)
 #endif
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -139,7 +139,7 @@ int main(int argc, char **argv)
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_kitti.cc b/Examples/Monocular/mono_kitti.cc
index 404c8242c8e..d1a4ac612d6 100644
--- a/Examples/Monocular/mono_kitti.cc
+++ b/Examples/Monocular/mono_kitti.cc
@@ -78,7 +78,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -88,7 +88,7 @@ int main(int argc, char **argv)
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -98,7 +98,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -107,7 +107,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_realsense_D435i.cc b/Examples/Monocular/mono_realsense_D435i.cc
index 11cbc035d2e..ea4e3de89cc 100644
--- a/Examples/Monocular/mono_realsense_D435i.cc
+++ b/Examples/Monocular/mono_realsense_D435i.cc
@@ -228,7 +228,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -247,7 +247,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -258,7 +258,7 @@ int main(int argc, char **argv) {
             cv::resize(im, im, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -269,7 +269,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -278,7 +278,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackMonocular(im, timestamp);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_realsense_t265.cc b/Examples/Monocular/mono_realsense_t265.cc
index 9895eef8ca2..576ed184f04 100644
--- a/Examples/Monocular/mono_realsense_t265.cc
+++ b/Examples/Monocular/mono_realsense_t265.cc
@@ -116,7 +116,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -126,7 +126,7 @@ int main(int argc, char **argv)
                 int height = imCV.rows * imageScale;
                 cv::resize(imCV, imCV, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -141,7 +141,7 @@ int main(int argc, char **argv)
             //clahe->apply(imRight,imRight);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -152,7 +152,7 @@ int main(int argc, char **argv)
             SLAM.TrackMonocular(imCV, timestamp_ms);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_tum.cc b/Examples/Monocular/mono_tum.cc
index 0e7d922c378..97c91cf52a3 100644
--- a/Examples/Monocular/mono_tum.cc
+++ b/Examples/Monocular/mono_tum.cc
@@ -79,7 +79,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -89,7 +89,7 @@ int main(int argc, char **argv)
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -99,7 +99,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -108,7 +108,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Monocular/mono_tum_vi.cc b/Examples/Monocular/mono_tum_vi.cc
index 2805c925220..02d2c78eece 100644
--- a/Examples/Monocular/mono_tum_vi.cc
+++ b/Examples/Monocular/mono_tum_vi.cc
@@ -112,7 +112,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -122,7 +122,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -145,7 +145,7 @@ int main(int argc, char **argv)
                      <<  vstrImageFilenames[seq][ni] << endl;
                 return 1;
             }
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -154,7 +154,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/REAMDME.md b/Examples/README.md
similarity index 100%
rename from Examples/REAMDME.md
rename to Examples/README.md
diff --git a/Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc b/Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
index 03970c511ac..392e0088a81 100644
--- a/Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
+++ b/Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
@@ -345,7 +345,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -412,7 +412,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -424,7 +424,7 @@ int main(int argc, char **argv) {
             cv::resize(depth, depth, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -435,7 +435,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -445,7 +445,7 @@ int main(int argc, char **argv) {
         SLAM.TrackRGBD(im, depth, timestamp, vImuMeas);
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/RGB-D/rgbd_realsense_D435i.cc b/Examples/RGB-D/rgbd_realsense_D435i.cc
index 8ff6131804a..c9e1ab9060b 100644
--- a/Examples/RGB-D/rgbd_realsense_D435i.cc
+++ b/Examples/RGB-D/rgbd_realsense_D435i.cc
@@ -323,7 +323,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -359,7 +359,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -371,7 +371,7 @@ int main(int argc, char **argv) {
             cv::resize(depth, depth, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -382,7 +382,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -392,7 +392,7 @@ int main(int argc, char **argv) {
         SLAM.TrackRGBD(im, depth, timestamp); //, vImuMeas); depthCV
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/RGB-D/rgbd_tum.cc b/Examples/RGB-D/rgbd_tum.cc
index d420da52c39..b1201306257 100644
--- a/Examples/RGB-D/rgbd_tum.cc
+++ b/Examples/RGB-D/rgbd_tum.cc
@@ -94,7 +94,7 @@ int main(int argc, char **argv)
             cv::resize(imD, imD, cv::Size(width, height));
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -103,7 +103,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackRGBD(imRGB,imD,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo-Inertial/stereo_inertial_euroc.cc b/Examples/Stereo-Inertial/stereo_inertial_euroc.cc
index bb522235426..8d897502b10 100644
--- a/Examples/Stereo-Inertial/stereo_inertial_euroc.cc
+++ b/Examples/Stereo-Inertial/stereo_inertial_euroc.cc
@@ -175,7 +175,7 @@ int main(int argc, char **argv)
                     first_imu[seq]++;
                 }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -184,7 +184,7 @@ int main(int argc, char **argv)
             // Pass the images to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe,vImuMeas);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc b/Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
index d3a03bf0056..3b5e01e66ac 100644
--- a/Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
+++ b/Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
@@ -344,7 +344,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -396,7 +396,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -408,7 +408,7 @@ int main(int argc, char **argv) {
             cv::resize(imRight, imRight, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -419,7 +419,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -428,7 +428,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackStereo(im, imRight, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc b/Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc
index 9fcd77588c8..66f2f841558 100644
--- a/Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc
+++ b/Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc
@@ -243,7 +243,7 @@ int main(int argc, char **argv)
             else
             {
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -254,7 +254,7 @@ int main(int argc, char **argv)
                 cv::resize(imCV, im_left, cv::Size(width, height));
                 cv::resize(imCV_right, im_right, cv::Size(width, height));
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -294,7 +294,7 @@ int main(int argc, char **argv)
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -303,7 +303,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackStereo(im_left, im_right, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc b/Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc
index 2abe61472b3..c551835dcfe 100644
--- a/Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc
+++ b/Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc
@@ -144,7 +144,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -155,7 +155,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -201,7 +201,7 @@ int main(int argc, char **argv)
             cout << "first imu time: " << fixed << vTimestampsImu[seq][0] << endl;
             cout << "size vImu: " << vImuMeas.size() << endl;*/
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -210,7 +210,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe,vImuMeas);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo/stereo_euroc.cc b/Examples/Stereo/stereo_euroc.cc
index 1250f2ee3c0..87149302ece 100644
--- a/Examples/Stereo/stereo_euroc.cc
+++ b/Examples/Stereo/stereo_euroc.cc
@@ -122,7 +122,7 @@ int main(int argc, char **argv)
 
             double tframe = vTimestampsCam[seq][ni];
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -131,7 +131,7 @@ int main(int argc, char **argv)
             // Pass the images to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe, vector<ORB_SLAM3::IMU::Point>(), vstrImageLeft[seq][ni]);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc
index fdc8ef04151..4d96898d46d 100644
--- a/Examples/Stereo/stereo_kitti.cc
+++ b/Examples/Stereo/stereo_kitti.cc
@@ -81,7 +81,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -92,7 +92,7 @@ int main(int argc, char **argv)
             cv::resize(imLeft, imLeft, cv::Size(width, height));
             cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -102,7 +102,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -111,7 +111,7 @@ int main(int argc, char **argv)
         // Pass the images to the SLAM system
         SLAM.TrackStereo(imLeft,imRight,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo/stereo_realsense_D435i.cc b/Examples/Stereo/stereo_realsense_D435i.cc
index f1a45710b66..a8735ff6830 100644
--- a/Examples/Stereo/stereo_realsense_D435i.cc
+++ b/Examples/Stereo/stereo_realsense_D435i.cc
@@ -259,7 +259,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -279,7 +279,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -291,7 +291,7 @@ int main(int argc, char **argv) {
             cv::resize(imRight, imRight, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -302,7 +302,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -311,7 +311,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackStereo(im, imRight, timestamp);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo/stereo_realsense_t265.cc b/Examples/Stereo/stereo_realsense_t265.cc
index f96d80af354..3a6c7bdeef4 100644
--- a/Examples/Stereo/stereo_realsense_t265.cc
+++ b/Examples/Stereo/stereo_realsense_t265.cc
@@ -126,7 +126,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -137,7 +137,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -151,7 +151,7 @@ int main(int argc, char **argv)
             //clahe->apply(imLeft,imLeft);
             //clahe->apply(imRight,imRight);
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -162,7 +162,7 @@ int main(int argc, char **argv)
             SLAM.TrackStereo(imLeft, imRight, timestamp);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples/Stereo/stereo_tum_vi.cc b/Examples/Stereo/stereo_tum_vi.cc
index 20a3ecf72d4..1fd9c32b025 100644
--- a/Examples/Stereo/stereo_tum_vi.cc
+++ b/Examples/Stereo/stereo_tum_vi.cc
@@ -117,7 +117,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -128,7 +128,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -151,7 +151,7 @@ int main(int argc, char **argv)
                 return 1;
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -160,7 +160,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc b/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc
index ea1dceb8053..6573e16f6b1 100644
--- a/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc
+++ b/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc
@@ -147,7 +147,7 @@ int main(int argc, char *argv[])
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -157,7 +157,7 @@ int main(int argc, char *argv[])
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -183,7 +183,7 @@ int main(int argc, char *argv[])
                 }
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -193,7 +193,7 @@ int main(int argc, char *argv[])
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc b/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc
index c8bf1ff589d..9c8b245b12b 100644
--- a/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc
+++ b/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc
@@ -314,7 +314,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -365,7 +365,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -375,7 +375,7 @@ int main(int argc, char **argv) {
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -386,7 +386,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -395,7 +395,7 @@ int main(int argc, char **argv) {
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc b/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc
index b4575b6acba..71fae5dc580 100644
--- a/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc
+++ b/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc
@@ -230,7 +230,7 @@ int main(int argc, char **argv)
             while(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -257,7 +257,7 @@ int main(int argc, char **argv)
             else
             {
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -267,7 +267,7 @@ int main(int argc, char **argv)
                 int height = imCV.rows * imageScale;
                 cv::resize(imCV, im, cv::Size(width, height));
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -308,7 +308,7 @@ int main(int argc, char **argv)
             }
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -316,7 +316,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im, timestamp, vImuMeas);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc b/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc
index bd84ce00121..f3352d4b7a0 100644
--- a/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc
+++ b/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc
@@ -172,7 +172,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -182,7 +182,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -195,7 +195,7 @@ int main(int argc, char **argv)
             // cout << "first imu: " << first_imu[seq] << endl;
             /*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
             cout << "size vImu: " << vImuMeas.size() << endl;*/
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -205,7 +205,7 @@ int main(int argc, char **argv)
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_euroc.cc b/Examples_old/Monocular/mono_euroc.cc
index 3a233129bea..fc5ed0dc91e 100644
--- a/Examples_old/Monocular/mono_euroc.cc
+++ b/Examples_old/Monocular/mono_euroc.cc
@@ -109,7 +109,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -119,7 +119,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -129,7 +129,7 @@ int main(int argc, char **argv)
 #endif
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -139,7 +139,7 @@ int main(int argc, char **argv)
             // cout << "tframe = " << tframe << endl;
             SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_kitti.cc b/Examples_old/Monocular/mono_kitti.cc
index 404c8242c8e..d1a4ac612d6 100644
--- a/Examples_old/Monocular/mono_kitti.cc
+++ b/Examples_old/Monocular/mono_kitti.cc
@@ -78,7 +78,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -88,7 +88,7 @@ int main(int argc, char **argv)
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -98,7 +98,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -107,7 +107,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_realsense_D435i.cc b/Examples_old/Monocular/mono_realsense_D435i.cc
index 11cbc035d2e..ea4e3de89cc 100644
--- a/Examples_old/Monocular/mono_realsense_D435i.cc
+++ b/Examples_old/Monocular/mono_realsense_D435i.cc
@@ -228,7 +228,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -247,7 +247,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -258,7 +258,7 @@ int main(int argc, char **argv) {
             cv::resize(im, im, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -269,7 +269,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -278,7 +278,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackMonocular(im, timestamp);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_realsense_t265.cc b/Examples_old/Monocular/mono_realsense_t265.cc
index 9895eef8ca2..576ed184f04 100644
--- a/Examples_old/Monocular/mono_realsense_t265.cc
+++ b/Examples_old/Monocular/mono_realsense_t265.cc
@@ -116,7 +116,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -126,7 +126,7 @@ int main(int argc, char **argv)
                 int height = imCV.rows * imageScale;
                 cv::resize(imCV, imCV, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -141,7 +141,7 @@ int main(int argc, char **argv)
             //clahe->apply(imRight,imRight);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -152,7 +152,7 @@ int main(int argc, char **argv)
             SLAM.TrackMonocular(imCV, timestamp_ms);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_tum.cc b/Examples_old/Monocular/mono_tum.cc
index 0e7d922c378..97c91cf52a3 100644
--- a/Examples_old/Monocular/mono_tum.cc
+++ b/Examples_old/Monocular/mono_tum.cc
@@ -79,7 +79,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -89,7 +89,7 @@ int main(int argc, char **argv)
             int height = im.rows * imageScale;
             cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -99,7 +99,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -108,7 +108,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Monocular/mono_tum_vi.cc b/Examples_old/Monocular/mono_tum_vi.cc
index 2805c925220..02d2c78eece 100644
--- a/Examples_old/Monocular/mono_tum_vi.cc
+++ b/Examples_old/Monocular/mono_tum_vi.cc
@@ -112,7 +112,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -122,7 +122,7 @@ int main(int argc, char **argv)
                 int height = im.rows * imageScale;
                 cv::resize(im, im, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -145,7 +145,7 @@ int main(int argc, char **argv)
                      <<  vstrImageFilenames[seq][ni] << endl;
                 return 1;
             }
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -154,7 +154,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/REAMDME.md b/Examples_old/README.md
similarity index 97%
rename from Examples_old/REAMDME.md
rename to Examples_old/README.md
index 508d6664368..7dea9cc4174 100644
--- a/Examples_old/REAMDME.md
+++ b/Examples_old/README.md
@@ -1 +1 @@
-This repository contains examples for running ORB-SLAM3 with the most common SLAM datasets using the old calibration format files.
\ No newline at end of file
+This repository contains examples for running ORB-SLAM3 with the most common SLAM datasets using the old calibration format files.
diff --git a/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc b/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
index 03970c511ac..392e0088a81 100644
--- a/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
+++ b/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc
@@ -345,7 +345,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -412,7 +412,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -424,7 +424,7 @@ int main(int argc, char **argv) {
             cv::resize(depth, depth, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -435,7 +435,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -445,7 +445,7 @@ int main(int argc, char **argv) {
         SLAM.TrackRGBD(im, depth, timestamp, vImuMeas);
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/RGB-D/rgbd_realsense_D435i.cc b/Examples_old/RGB-D/rgbd_realsense_D435i.cc
index 8ff6131804a..c9e1ab9060b 100644
--- a/Examples_old/RGB-D/rgbd_realsense_D435i.cc
+++ b/Examples_old/RGB-D/rgbd_realsense_D435i.cc
@@ -323,7 +323,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -359,7 +359,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -371,7 +371,7 @@ int main(int argc, char **argv) {
             cv::resize(depth, depth, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -382,7 +382,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -392,7 +392,7 @@ int main(int argc, char **argv) {
         SLAM.TrackRGBD(im, depth, timestamp); //, vImuMeas); depthCV
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/RGB-D/rgbd_tum.cc b/Examples_old/RGB-D/rgbd_tum.cc
index d420da52c39..b1201306257 100644
--- a/Examples_old/RGB-D/rgbd_tum.cc
+++ b/Examples_old/RGB-D/rgbd_tum.cc
@@ -94,7 +94,7 @@ int main(int argc, char **argv)
             cv::resize(imD, imD, cv::Size(width, height));
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -103,7 +103,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackRGBD(imRGB,imD,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/ROS/ORB_SLAM3/CMakeLists.txt b/Examples_old/ROS/ORB_SLAM3/CMakeLists.txt
index 12792fe44b4..9c652f17f93 100644
--- a/Examples_old/ROS/ORB_SLAM3/CMakeLists.txt
+++ b/Examples_old/ROS/ORB_SLAM3/CMakeLists.txt
@@ -18,7 +18,7 @@ CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
+   add_definitions(-DCOMPILEDWITHC14)
    message(STATUS "Using flag -std=c++11.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc b/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc
index 25dbf3cf2be..c14fd7d869c 100644
--- a/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc
+++ b/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc
@@ -194,7 +194,7 @@ int main(int argc, char **argv)
 
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Rect = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Rect = std::chrono::monotonic_clock::now();
@@ -204,7 +204,7 @@ int main(int argc, char **argv)
             cv::remap(imRight,imRightRect,M1r,M2r,cv::INTER_LINEAR);
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Rect = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Rect = std::chrono::monotonic_clock::now();
@@ -217,7 +217,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -228,7 +228,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeftRect, imLeftRect, cv::Size(width, height));
                 cv::resize(imRightRect, imRightRect, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -252,7 +252,7 @@ int main(int argc, char **argv)
                     first_imu[seq]++;
                 }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -261,7 +261,7 @@ int main(int argc, char **argv)
             // Pass the images to the SLAM system
             SLAM.TrackStereo(imLeftRect,imRightRect,tframe,vImuMeas);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
index d3a03bf0056..3b5e01e66ac 100644
--- a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
+++ b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc
@@ -344,7 +344,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -396,7 +396,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -408,7 +408,7 @@ int main(int argc, char **argv) {
             cv::resize(imRight, imRight, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -419,7 +419,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -428,7 +428,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackStereo(im, imRight, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc
index 9fcd77588c8..66f2f841558 100644
--- a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc
+++ b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc
@@ -243,7 +243,7 @@ int main(int argc, char **argv)
             else
             {
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -254,7 +254,7 @@ int main(int argc, char **argv)
                 cv::resize(imCV, im_left, cv::Size(width, height));
                 cv::resize(imCV_right, im_right, cv::Size(width, height));
     #ifdef REGISTER_TIMES
-        #ifdef COMPILEDWITHC11
+        #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -294,7 +294,7 @@ int main(int argc, char **argv)
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -303,7 +303,7 @@ int main(int argc, char **argv)
         // Pass the image to the SLAM system
         SLAM.TrackStereo(im_left, im_right, timestamp, vImuMeas);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc b/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc
index 2abe61472b3..c551835dcfe 100644
--- a/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc
+++ b/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc
@@ -144,7 +144,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -155,7 +155,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -201,7 +201,7 @@ int main(int argc, char **argv)
             cout << "first imu time: " << fixed << vTimestampsImu[seq][0] << endl;
             cout << "size vImu: " << vImuMeas.size() << endl;*/
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -210,7 +210,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe,vImuMeas);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo/stereo_euroc.cc b/Examples_old/Stereo/stereo_euroc.cc
index 08a59e42721..c8f00f5dad7 100644
--- a/Examples_old/Stereo/stereo_euroc.cc
+++ b/Examples_old/Stereo/stereo_euroc.cc
@@ -160,7 +160,7 @@ int main(int argc, char **argv)
             }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Rect = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Rect = std::chrono::monotonic_clock::now();
@@ -170,7 +170,7 @@ int main(int argc, char **argv)
             cv::remap(imRight,imRightRect,M1r,M2r,cv::INTER_LINEAR);
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Rect = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Rect = std::chrono::monotonic_clock::now();
@@ -183,7 +183,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -194,7 +194,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeftRect, imLeftRect, cv::Size(width, height));
                 cv::resize(imRightRect, imRightRect, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -204,7 +204,7 @@ int main(int argc, char **argv)
 #endif
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -213,7 +213,7 @@ int main(int argc, char **argv)
             // Pass the images to the SLAM system
             SLAM.TrackStereo(imLeftRect,imRightRect,tframe, vector<ORB_SLAM3::IMU::Point>(), vstrImageLeft[seq][ni]);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo/stereo_kitti.cc b/Examples_old/Stereo/stereo_kitti.cc
index fdc8ef04151..4d96898d46d 100644
--- a/Examples_old/Stereo/stereo_kitti.cc
+++ b/Examples_old/Stereo/stereo_kitti.cc
@@ -81,7 +81,7 @@ int main(int argc, char **argv)
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -92,7 +92,7 @@ int main(int argc, char **argv)
             cv::resize(imLeft, imLeft, cv::Size(width, height));
             cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -102,7 +102,7 @@ int main(int argc, char **argv)
 #endif
         }
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -111,7 +111,7 @@ int main(int argc, char **argv)
         // Pass the images to the SLAM system
         SLAM.TrackStereo(imLeft,imRight,tframe);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #else
         std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo/stereo_realsense_D435i.cc b/Examples_old/Stereo/stereo_realsense_D435i.cc
index f1a45710b66..a8735ff6830 100644
--- a/Examples_old/Stereo/stereo_realsense_D435i.cc
+++ b/Examples_old/Stereo/stereo_realsense_D435i.cc
@@ -259,7 +259,7 @@ int main(int argc, char **argv) {
             if(!image_ready)
                 cond_image_rec.wait(lk);
 
-#ifdef COMPILEDWITHC11
+#ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
             std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
@@ -279,7 +279,7 @@ int main(int argc, char **argv) {
         if(imageScale != 1.f)
         {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -291,7 +291,7 @@ int main(int argc, char **argv) {
             cv::resize(imRight, imRight, cv::Size(width, height));
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -302,7 +302,7 @@ int main(int argc, char **argv) {
         }
 
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
@@ -311,7 +311,7 @@ int main(int argc, char **argv) {
         // Stereo images are already rectified.
         SLAM.TrackStereo(im, imRight, timestamp);
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
         std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo/stereo_realsense_t265.cc b/Examples_old/Stereo/stereo_realsense_t265.cc
index f96d80af354..3a6c7bdeef4 100644
--- a/Examples_old/Stereo/stereo_realsense_t265.cc
+++ b/Examples_old/Stereo/stereo_realsense_t265.cc
@@ -126,7 +126,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -137,7 +137,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -151,7 +151,7 @@ int main(int argc, char **argv)
             //clahe->apply(imLeft,imLeft);
             //clahe->apply(imRight,imRight);
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -162,7 +162,7 @@ int main(int argc, char **argv)
             SLAM.TrackStereo(imLeft, imRight, timestamp);
 
 #ifdef REGISTER_TIMES
-  #ifdef COMPILEDWITHC11
+  #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
   #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/Examples_old/Stereo/stereo_tum_vi.cc b/Examples_old/Stereo/stereo_tum_vi.cc
index 3e296f6d21b..51a8397780b 100644
--- a/Examples_old/Stereo/stereo_tum_vi.cc
+++ b/Examples_old/Stereo/stereo_tum_vi.cc
@@ -118,7 +118,7 @@ int main(int argc, char **argv)
             if(imageScale != 1.f)
             {
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
@@ -129,7 +129,7 @@ int main(int argc, char **argv)
                 cv::resize(imLeft, imLeft, cv::Size(width, height));
                 cv::resize(imRight, imRight, cv::Size(width, height));
 #ifdef REGISTER_TIMES
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
                 std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
@@ -152,7 +152,7 @@ int main(int argc, char **argv)
                 return 1;
             }
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
@@ -161,7 +161,7 @@ int main(int argc, char **argv)
             // Pass the image to the SLAM system
             SLAM.TrackStereo(imLeft,imRight,tframe);
 
-    #ifdef COMPILEDWITHC11
+    #ifdef COMPILEDWITHC14
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #else
             std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
diff --git a/README.md b/README.md
index 0ca3a9f2d3e..a6bf8d993c6 100644
--- a/README.md
+++ b/README.md
@@ -51,16 +51,16 @@ If you use ORB-SLAM3 in an academic work, please cite:
      }
 
 # 2. Prerequisites
-We have tested the library in **Ubuntu 16.04** and **18.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.
+We have tested the library in **Ubuntu 16.04**, **18.04** and **22.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.
 
-## C++11 or C++0x Compiler
-We use the new thread and chrono functionalities of C++11.
+## C++14
+We use the new thread and chrono functionalities of C++14.
 
 ## Pangolin
-We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
+We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Download and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
 
 ## OpenCV
-We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 3.0. Tested with OpenCV 3.2.0 and 4.4.0**.
+We use [OpenCV](http://opencv.org) to manipulate images and features. Download and install instructions can be found at: http://opencv.org. **Required at least 3.0. Tested with OpenCV 4.4.0**.
 
 ## Eigen3
 Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**.
diff --git a/build.sh b/build.sh
index 96d1c0941cd..d1e92df6598 100755
--- a/build.sh
+++ b/build.sh
@@ -4,7 +4,7 @@ cd Thirdparty/DBoW2
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+sudo make -j $(nproc)
 
 cd ../../g2o
 
@@ -13,7 +13,7 @@ echo "Configuring and building Thirdparty/g2o ..."
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+sudo make -j $(nproc)
 
 cd ../../Sophus
 
@@ -22,7 +22,7 @@ echo "Configuring and building Thirdparty/Sophus ..."
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+sudo make -j $(nproc)
 
 cd ../../../
 
@@ -36,5 +36,6 @@ echo "Configuring and building ORB_SLAM3 ..."
 
 mkdir build
 cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j4
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
+sudo make -j $(nproc)
+cd ..
diff --git a/build_ros.sh b/build_ros.sh
index 1f13d2155fc..64c9749c629 100755
--- a/build_ros.sh
+++ b/build_ros.sh
@@ -3,5 +3,6 @@ echo "Building ROS nodes"
 cd Examples/ROS/ORB_SLAM3
 mkdir build
 cd build
-cmake .. -DROS_BUILD_TYPE=Release
-make -j
+cmake .. -DROS_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
+make -j $(nproc)
+cd ..
diff --git a/cmake/ORB_SLAM3Config.cmake.in b/cmake/ORB_SLAM3Config.cmake.in
new file mode 100644
index 00000000000..b48502759f6
--- /dev/null
+++ b/cmake/ORB_SLAM3Config.cmake.in
@@ -0,0 +1,2 @@
+set(ORB_SLAM3_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include/ORB_SLAM3")
+set(ORB_SLAM3_LIBRARIES "@CMAKE_INSTALL_PREFIX@/lib/libORB_SLAM3.so")
\ No newline at end of file
diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in
new file mode 100644
index 00000000000..98cebc3f9af
--- /dev/null
+++ b/cmake/cmake_uninstall.cmake.in
@@ -0,0 +1,12 @@
+if(EXISTS "${CMAKE_INSTALL_PREFIX}/lib/cmake/ORB_SLAM3/ORB_SLAM3Config.cmake")
+  message(STATUS "Uninstalling ORB_SLAM3")
+else()
+  message(FATAL_ERROR "Unable to uninstall ORB_SLAM3, no installed files found.")
+endif()
+
+file(READ "${CMAKE_BINARY_DIR}/install_manifest.txt" installed_files)
+
+foreach(file ${installed_files})
+  message(STATUS "Uninstalling: ${file}")
+  file(REMOVE ${file})
+endforeach()
diff --git a/cmake_uninstall.cmake.in b/cmake_uninstall.cmake.in
new file mode 100644
index 00000000000..53c3398d0b2
--- /dev/null
+++ b/cmake_uninstall.cmake.in
@@ -0,0 +1,11 @@
+# cmake_uninstall.cmake.in
+if(EXISTS "${CMAKE_BINARY_DIR}/install_manifest.txt")
+  file(READ "${CMAKE_BINARY_DIR}/install_manifest.txt" installed_files)
+  foreach(file IN LISTS installed_files)
+    string(REGEX REPLACE "^${CMAKE_INSTALL_PREFIX}/" "" file_relative ${file})
+    message(STATUS "Removing ${file}")
+    file(REMOVE_RECURSE "${CMAKE_INSTALL_PREFIX}/${file_relative}")
+  endforeach()
+else()
+  message(FATAL_ERROR "The install_manifest.txt file does not exist. Cannot uninstall.")
+endif()