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##List of Known Dependencies ###CCM-SLAM version 1.0

In this document we list, to our best knowledge, all the pieces of code included by CCM-SLAM and linked libraries which are not property of the authors of CCM-SLAM.

#####Code in src and include folders

  • ORB-SLAM2
    Parts of CMM-SLAM are based on modules of ORB-SLAM2, which are re-used in modified or partially in unmodified condition. The original code is GPLv3 licensed.

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

  • 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 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.

#####Library dependencies

  • OpenCV.
    BSD license.

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

  • PCL.
    BSD license.

  • ROS.
    BSD license. CCM-SLAM Messages dependencies: catkin, roscpp, std_msgs, geometry_msgs, sensor_msgs, message_generation, message_runtime -- all BSD licensed. CCM-SLAM dependencies: catkin, cmake_modules, roscpp, cv_bridge, tf, pcl_ros, tf_conversions, image_transport -- all BSD licensed.