msckf_vio/LICENSE.txt

COPYRIGHT AND PERMISSION NOTICE
Penn Software MSCKF_VIO
Copyright (C) 2017 The Trustees of the University of Pennsylvania
All rights reserved.

The Trustees of the University of Pennsylvania (“Penn”) and Ke Sun, Kartik Mohta, the developer (“Developer”) of Penn Software MSCKF_VIO (“Software”) give recipient (“Recipient”) and Recipient’s Institution (“Institution”) permission to use, copy, and modify the software in source and binary forms, with or without modification for non-profit research purposes only provided that the following conditions are met:

1) All copies of Software in binary form and/or source code, related documentation and/or other materials provided with the Software must reproduce and retain the above copyright notice, this list of conditions and the following disclaimer.


2) Recipient shall have the right to create modifications of the Software (“Modifications”) for their internal research and academic purposes only. 


3) All copies of Modifications in binary form and/or source code and related documentation must reproduce and retain the above copyright notice, this list of conditions and the following disclaimer.


4) Recipient and Institution shall not distribute Software or Modifications to any third parties without the prior written approval of Penn.


5) Recipient will provide the Developer with feedback on the use of the Software and Modifications, if any, in their research.  The Developers and Penn are permitted to use any information Recipient provides in making changes to the Software. All feedback, bug reports and technical questions shall be sent to: 
sunke@seas.upenn.edu
kmohta@seas.upenn.edu


6) Recipient acknowledges that the Developers, Penn and its licensees may develop modifications to Software that may be substantially similar to Recipient’s modifications of Software, and that the Developers, Penn and its licensees shall not be constrained in any way by Recipient in Penn’s or its licensees’ use or management of such modifications. Recipient acknowledges the right of the Developers and Penn to prepare and publish modifications to Software that may be substantially similar or functionally equivalent to your modifications and improvements, and if Recipient or Institution obtains patent protection for any modification or improvement to Software, Recipient and Institution agree not to allege or enjoin infringement of their patent by the Developers, Penn or any of Penn’s licensees obtaining modifications or improvements to Software from the Penn or the Developers.


7) Recipient and Developer will acknowledge in their respective publications the contributions made to each other’s research involving or based on the Software. The current citations for Software are:


8) Any party desiring a license to use the Software and/or Modifications for commercial purposes shall contact The Penn Center for Innovation at 215-898-9591.


THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS, CONTRIBUTORS, AND THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER, CONTRIBUTORS OR THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.