You should have received this DBoW2 version along with ORB-SLAM2 (https://github.com/raulmur/ORB_SLAM2).
See the original DBoW2 library at: https://github.com/dorian3d/DBoW2
All files included in this version are BSD, see LICENSE.txt
We also use Random.h, Random.cpp, Timestamp.pp and Timestamp.h from DLib/DUtils.
See the original DLib library at: https://github.com/dorian3d/DLib
All files included in this version are BSD, see LICENSE.txt
一种多功能且准确的单目SLAM系统，用于单目、立体和RGB-D摄像机的开源SLAM系统 （219个子文件） 
os_specific.c 2KB ros_stereo.cc 5KB rgbd_tum.cc 5KB mono_kitti.cc 5KB mono_euroc.cc 4KB mono_tum.cc 4KB ros_rgbd.cc 3KB ros_mono.cc 2KB FindBLAS.cmake 13KB FindLAPACK.cmake 10KB FindEigen3.cmake 3KB FindEigen3.cmake 3KB Tracking.cpp 71KB ORBmatcher.cpp 65KB Optimizer.cpp 52KB ORBextractor.cpp 48KB PnPsolver.cpp 42KB Initializer.cpp 38KB LoopClosing.cpp 37KB LocalMapping.cpp 34KB Frame.cpp 29KB optimizable_graph.cpp 27KB KeyFrame.cpp 27KB sparse_optimizer.cpp 20KB MapPoint.cpp 16KB KeyFrameDatabase.cpp 15KB System.cpp 15KB Sim3Solver.cpp 13KB types_six_dof_expmap.cpp 11KB estimate_propagator.cpp 10KB MapDrawer.cpp 10KB hyper_dijkstra.cpp 9KB hyper_graph_action.cpp 9KB optimization_algorithm_dogleg.cpp 8KB Viewer.cpp 8KB ScoringObject.cpp 8KB FrameDrawer.cpp 8KB marginal_covariance_cholesky.cpp 7KB optimization_algorithm_levenberg.cpp 7KB stereo_EuRoC.cpp 7KB factory.cpp 6KB types_seven_dof_expmap.cpp 6KB cache.cpp 5KB Timestamp.cpp 5KB string_tools.cpp 5KB robust_kernel_impl.cpp 5KB optimization_algorithm_factory.cpp 5KB stereo_kitti.cpp 5KB parameter_container.cpp 4KB FORB.cpp 4KB hyper_graph.cpp 4KB Converter.cpp 4KB timeutil.cpp 4KB matrix_structure.cpp 3KB optimization_algorithm_with_hessian.cpp 3KB optimization_algorithm_gauss_newton.cpp 3KB property.cpp 3KB robust_kernel_factory.cpp 3KB jacobian_workspace.cpp 3KB batch_stats.cpp 3KB Map.cpp 3KB sparse_block_matrix_test.cpp 3KB Random.cpp 3KB BowVector.cpp 3KB solver.cpp 3KB optimization_algorithm.cpp 2KB types_sba.cpp 2KB FeatureVector.cpp 2KB run_zed.cpp 2KB bin_vocabulary.cpp 2KB robust_kernel.cpp 2KB parameter.cpp 2KB Doxyfile 99KB .gitignore 171B TemplatedVocabulary.h 47KB optimizable_graph.h 25KB sparse_optimizer.h 12KB types_six_dof_expmap.h 11KB sparse_block_matrix_ccs.h 11KB sparse_block_matrix.h 9KB linear_solver_eigen.h 9KB Frame.h 8KB hyper_graph.h 8KB se3quat.h 8KB hyper_graph_action.h 8KB KeyFrame.h 8KB block_solver.h 7KB sim3.h 7KB Tracking.h 7KB PnPsolver.h 6KB estimate_propagator.h 6KB ORBmatcher.h 6KB optimization_algorithm_factory.h 6KB factory.h 6KB types_seven_dof_expmap.h 6KB Initializer.h 6KB System.h 6KB solver.h 5KB MapPoint.h 5KB property.h 5KB共 219 条
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