LICENSE

The MIT License (MIT)

 Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.
 Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1

Authors are (in alphabetical order): 
 - Bodin Bruno
 - Mawer John
 - Melot Nicolas
 - Moldovan Adrian
 - Nardi Luigi
 - Nisbet Andy
 - Saeedi Sajad 
 - Vespa Emanuele
 - Wagstaff Harry
 - Zia M Zeeshan  

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

The MIT license is limited to the ***PAMELA*** software.

The libraries used that are not under the same license are: 
 - Eigen3 (LGPLv3)
 - Pangolin (MIT)
 - OpenNI (Apache License 2.0)
 - PCL (3-clauses BSD)
 - PAPI (BSD)
 - Boost (Boost Software Licence)
 - libyaml (MIT)
 - LodePNG (zlib License)

The SLAM algorithms that are using SLAMbench and that can be downloaded in the "benchmark" folder have the following licences:
 - OKVIS  (BSD 3-Clause)
 - KFusion: (MIT License)
 - LSDSLAM (GPLv3)
 - orbslam2 (GPLv3)
 - PTAM (GPLv3)
 - SVO (GPLv3)
 - monoslam (Custom permissive licence)
 - ElasticFusion (Elastic Fusion license)
 - InfiniTAM (Oxford/Isis licence)

Several of those SLAM systems include third-party libraries:
 - Sophus (MIT)
 - vikit_common (no licence file found)

The additionnal dependencies used by those algorithms are that can be downloaded in the "deps" folder have the following licences:
 - OpenCV (BSD)
 - G2O (BSD)
 - BRISK (BSD)
 - CVD (two-clause BSD)
 - Flann (BSD)
 - gvars (BSD)
 - opengv (BSD)
 - TooN (2-clause BSD)
 - suitesparse (3-clause BSD)