text: ##List of Known Dependencies
  ###ORB-SLAM2 version 1.0
  
  In this document we list all the pieces of code included  by ORB-SLAM2 and linked libraries which are not property of the authors of ORB-SLAM2.
  
  
  #####Code in **src** and **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 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.
  
  * 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](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
  
  * All code in **g2o** folder.
  This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
  
  #####Library dependencies 
  
  * **Pangolin (visualization and user interface)**.
  https://github.com/stevenlovegrove/Pangolin
  
  * **OpenCV**.
  BSD licensed.
  
  * **Eigen3**.
  For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
  
  * **BLAS** (required by g2o).
  [Freely-available software](http://www.netlib.org/blas/#_licensing).
  
  * **LAPACK**(required by g2o).
  BSD licensed. 
  
  * **ROS (Optional, only if you build Examples/ROS)**.
  BSD licensed. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.
  
  
  
  Updated: 23/01/2016 Raúl Mur Artal
  