##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.
| Package Name (Debian/Ubuntu) | Purpose |
|---|---|
libssl-dev |
MD5 Checksum |
libopencv-dev |
Image Processing, FAST Feature Extraction |
libepoxy-dev |
TBD |
libeigen3-dev |
Linear Algebra Acceleration |
libopengl-dev |
Visualization (Pangolin) |
libboost-system-dev |
Utility Functions and Tools |
libboost-serialization-dev |
Serialization and De-serialization |
-
ORBextractor.cc. 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. This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. This code can be found in popular BSD licensed computer vision libraries as OpenCV and OpenGV. The original code is FreeBSD.
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MLPnPsolver.h, MLPnPsolver.cc. This is a modified version of the MLPnP of Steffen Urban from here. The original code is BSD licensed.
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Function ORBmatcher::DescriptorDistance in ORBmatcher.cc. The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel. The code is in the public domain.
Submodules under deps directory.
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DBoW2 is an improved version of the DBow library, an open source C++ library for indexing and converting images into a bag-of-word representation.
This project is distributed under a modified version of the BSD license.
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g2ois an open-source C++ framework for optimizing graph-based nonlinear error functionsThis project is distributed under the BSD License.
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Sophusis a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems.This project is distributed under the BSD License.
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Pangolinis a set of lightweight and portable utility libraries for prototyping 3D, numeric or video based programs and algorithms.This project is distributed under the MIT License.