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