52 lines
2.1 KiB
Markdown
52 lines
2.1 KiB
Markdown
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##List of Known Dependencies
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###ORB-SLAM3 v1.0
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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.
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#####Code in **src** and **include** folders
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* *ORBextractor.cc*.
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This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
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* *PnPsolver.h, PnPsolver.cc*.
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This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit.
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This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD.
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* *MLPnPsolver.h, MLPnPsolver.cc*.
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This is a modified version of the MLPnP of Steffen Urban from [here](https://github.com/urbste/opengv).
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The original code is BSD licensed.
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* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
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The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
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The code is in the public domain.
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#####Code in Thirdparty folder
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* All code in **DBoW2** folder.
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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.
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* All code in **g2o** folder.
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This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
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* All code in **Sophus** folder.
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This is a modified version of [Sophus](https://github.com/strasdat/Sophus). [MIT license](https://en.wikipedia.org/wiki/MIT_License).
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#####Library dependencies
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* **Pangolin (visualization and user interface)**.
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[MIT license](https://en.wikipedia.org/wiki/MIT_License).
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* **OpenCV**.
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BSD license.
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* **Eigen3**.
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For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
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* **ROS (Optional, only if you build Examples/ROS)**.
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BSD license. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.
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