ContextQMD
Back to Mvision

代码依赖

vSLAM/oRB_SLAM2/Dependencies.md

latest2.4 KB
Original Source

##List of Known Dependencies ###ORB-SLAM2 version 1.0

ORB-SLAM2 学习 记录

代码依赖

#####Code in src and include folders

  • ORBextractor.cc orb特征提取算法 源自opencv 库的 orb.cpp. This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.

  • PnPsolver.h, PnPsolver.cc 3D - 2D 点对 射影几何 求解 变换矩阵 R 和 t. 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.

  • Function ORBmatcher::DescriptorDistance in ORBmatcher.cc ORB特征匹配算法 二进制特征向量 字符串汉明距离匹配. The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel. The code is in the public domain.

#####Code in Thirdparty folder 第三方库

  • All code in DBoW2 folder. Bag of word 词袋 算法 用于匹配 是图像检索领域最常用的方法，也是基于内容的图像检索中最基础的算法。

    • 所有特征 组合成 一个词典 来一个新特征 用词典中的单词 线性表示 维度 为 词典单词个数

  • 计算图像之间相似度时仍然计算的是BoW向量之间的距离( 根据描述子的不同可能选择Hamming距离或者余弦距离 ) This is a modified version of DBoW2 and DLib library. All files included are BSD licensed.

  • All code in g2o folder. 非线性 图 优化话算法 This is a modified version of g2o. All files included are BSD licensed.

#####Library dependencies

    • Pangolin (visualization and user interface) 可视化 **. MIT license.

  • *OpenCV 计算机视觉库 **. BSD license.

  • *Eigen3 C++ 矩阵运算库 **. For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.

    • ROS (Optional, only if you build Examples/ROS) 机器人操作系统库 可选**. 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.