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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 core/src and core/include folders

  • ORBextractor.cc. This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.

  • 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, such as OpenCV and OpenGV. The original code is FreeBSD.

  • MLPnPsolver.h, MLPnPsolver.cc. This is a modified version of the MLPnP of Steffen Urban from here. The original code is BSD licensed.

  • 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.

Code in core/Thirdparty folder

  • All code in DBoW2 folder. This is a modified version of DBoW2 and DLib library. All files included are BSD licensed.

  • All code in g2o folder. This is a modified version of g2o. All files included are BSD licensed.

  • All code in Sophus folder. This is a modified version of Sophus. MIT license.

Library dependencies

  • Pangolin (visualization and user interface). MIT license.

  • OpenCV. BSD license.

  • Eigen3. For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.

  • ROS (Optional, only if you build Examples/ROS). 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.