GTSAM is released under the simplified BSD license, reproduced in the file
LICENSE.BSD in this directory.
GTSAM contains several third party libraries, with documentation of licensing
and modifications as follows:
- CCOLAMD 2.9.6: Tim Davis' constrained column approximate minimum degree
ordering library
- Included unmodified in gtsam/3rdparty/CCOLAMD and
gtsam/3rdparty/SuiteSparse_config
- http://faculty.cse.tamu.edu/davis/suitesparse.html
- Licenced under BSD-3, provided in gtsam/3rdparty/CCOLAMD/Doc/License.txt
- ceres: Google's nonlinear least-squares optimization library
- Includes only auto-diff/jet code, with minor modifications to includes
- http://ceres-solver.org/license.html
- Eigen 3.3.7: General C++ matrix and linear algebra library
- Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README
- Some code that is 3rd-party to Eigen is BSD and LGPL
- GeographicLib 1.35: Charles Karney's geographic conversion utility library
- Included unmodified in gtsam/3rdparty/GeographicLib
- Licenced under MIT, provided in gtsam/3rdparty/GeographicLib/LICENSE.txt
- METIS 5.1.0: Graph partitioning and fill-reducing matrix ordering library
- Included unmodified in gtsam/3rdparty/metis
- Licenced under Apache License v 2.0, provided in
gtsam/3rdparty/metis/LICENSE.txt
- Spectra v0.9.0: Sparse Eigenvalue Computation Toolkit as a Redesigned ARPACK.
- Licenced under MPL2, provided at https://github.com/yixuan/spectra