From f5dbd1c5c9486803026818970dfc95ace18fa52c Mon Sep 17 00:00:00 2001 From: Jaiveer Singh Date: Wed, 19 Oct 2022 11:16:55 -0700 Subject: [PATCH] Isaac ROS 0.20.0 (DP2) --- CONTRIBUTING.md | 14 + LICENSE | 266 +- README.md | 171 +- docs/model-preparation.md | 13 +- docs/tensorrt-and-triton-info.md | 32 +- docs/troubleshooting.md | 7 +- isaac_ros_dnn_encoders/CMakeLists.txt | 25 +- .../config/dnn_image_encoder_node.yaml | 21 +- .../config/namespace_injector_rule.yaml | 21 +- .../dnn_image_encoder_node.hpp | 25 +- isaac_ros_dnn_encoders/package.xml | 24 +- .../src/dnn_image_encoder_node.cpp | 25 +- ...c_ros_dnn_image_encoder_image_norm_test.py | 21 +- .../test/isaac_ros_dnn_image_encoder_test.py | 21 +- isaac_ros_dnn_inference_test/CMakeLists.txt | 25 +- .../test_tensor_publisher_node.hpp | 25 +- isaac_ros_dnn_inference_test/package.xml | 24 +- .../src/test_tensor_publisher_main.cpp | 25 +- .../src/test_tensor_publisher_node.cpp | 25 +- isaac_ros_tensor_rt/CMakeLists.txt | 25 +- .../config/namespace_injector_rule.yaml | 21 +- .../config/tensor_rt_inference.yaml | 21 +- .../isaac_ros_tensor_rt/tensor_rt_node.hpp | 25 +- .../launch/isaac_ros_tensor_rt.launch.py | 21 +- isaac_ros_tensor_rt/package.xml | 24 +- isaac_ros_tensor_rt/src/tensor_rt_node.cpp | 25 +- .../test/isaac_ros_tensor_rt_test.py | 21 +- isaac_ros_triton/CMakeLists.txt | 32 +- .../config/namespace_injector_rule.yaml | 21 +- isaac_ros_triton/config/triton_node.yaml | 21 +- .../gxf/lib/gxf_jetpack50/triton/LICENSE.txt | 5484 ----------------- .../gxf_jetpack50/triton/LicenseAgreement.pdf | Bin 131 -> 0 bytes .../gxf_jetpack50/triton/libgxf_triton_ext.so | 3 - .../triton/libnvbuf_fdmap.so.1.0.0 | 3 - .../gxf_jetpack50/triton/libnvbufsurface.so | 3 - .../triton/libnvbufsurftransform.so | 3 - .../triton/libnvds_infer_server.so | 3 - .../triton/libnvds_inferlogger.so | 3 - .../triton/libnvds_inferutils.so | 3 - .../gxf/lib/gxf_x86_64/triton/LICENSE.txt | 5484 ----------------- .../gxf_x86_64/triton/LicenseAgreement.pdf | Bin 131 -> 0 bytes .../gxf_x86_64/triton/libgxf_triton_ext.so | 3 - .../lib/gxf_x86_64/triton/libnvbuf_fdmap.so | 3 - .../lib/gxf_x86_64/triton/libnvbufsurface.so | 3 - .../triton/libnvbufsurftransform.so | 3 - .../gxf_x86_64/triton/libnvds_infer_server.so | 3 - .../gxf_x86_64/triton/libnvds_inferlogger.so | 3 - .../gxf_x86_64/triton/libnvds_inferutils.so | 3 - .../isaac_ros_triton_node/triton_node.hpp | 25 +- .../launch/isaac_ros_triton.launch.py | 21 +- isaac_ros_triton/package.xml | 24 +- isaac_ros_triton/src/triton_node.cpp | 27 +- .../test/isaac_ros_triton_test_onnx.py | 21 +- .../test/isaac_ros_triton_test_tf.py | 21 +- 54 files changed, 826 insertions(+), 11390 deletions(-) create mode 100644 CONTRIBUTING.md delete mode 100644 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LICENSE.txt delete mode 100644 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LicenseAgreement.pdf delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libgxf_triton_ext.so delete mode 100644 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvbuf_fdmap.so.1.0.0 delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvbufsurface.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvbufsurftransform.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvds_infer_server.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvds_inferlogger.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/libnvds_inferutils.so delete mode 100644 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/LICENSE.txt delete mode 100644 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/LicenseAgreement.pdf delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libgxf_triton_ext.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbuf_fdmap.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurface.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurftransform.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_infer_server.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferlogger.so delete mode 100755 isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferutils.so diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..a89cd42 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,14 @@ +# Isaac ROS Contribution Rules + +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +> **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. + +Contributors must sign-off each commit by adding a `Signed-off-by: ...` +line to commit messages to certify that they have the right to submit +the code they are contributing to the project according to the +[Developer Certificate of Origin (DCO)](https://developercertificate.org/). + +[//]: # (202201002) diff --git a/LICENSE b/LICENSE index 88bc900..7a4a3ea 100644 --- a/LICENSE +++ b/LICENSE @@ -1,66 +1,202 @@ -NVIDIA ISAAC ROS SOFTWARE LICENSE -This license is a legal agreement between you and NVIDIA Corporation ("NVIDIA") and governs the use of the NVIDIA Isaac ROS software and materials provided hereunder (“SOFTWARE”). - -This license can be accepted only by an adult of legal age of majority in the country in which the SOFTWARE is used. - -If you are entering into this license on behalf of a company or other legal entity, you represent that you have the legal authority to bind the entity to this license, in which case “you” will mean the entity you represent. - -If you don’t have the required age or authority to accept this license, or if you don’t accept all the terms and conditions of this license, do not download, install or use the SOFTWARE. - -You agree to use the SOFTWARE only for purposes that are permitted by (a) this license, and (b) any applicable law, regulation or generally accepted practices or guidelines in the relevant jurisdictions. - -1. 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Isaac ROS DNN Inference Sample Output (DOPE)Isaac ROS DNN Inference Sample Output (PeopleSemSegnet)
## Overview + This repository provides two NVIDIA GPU-accelerated ROS2 nodes that perform deep learning inference using custom models. One node uses the TensorRT SDK, while the other uses the Triton SDK. This repository also contains a node to preprocess images, and convert them into tensors for use by TensorRT and Triton. ### TensorRT + TensorRT is a library that enables faster inference on NVIDIA GPUs; it provides an API for the user to load and execute inference with their own models. The TensorRT ROS2 node in this package integrates with the TensorRT API, so the user has no need to make any calls to or directly use TensorRT SDK. Instead, users simply configure the TensorRT node with their own custom models and parameters, and the node will make the necessary TensorRT API calls to load and execute the model. For further documentation on TensorRT, refer to the main page [here](https://developer.nvidia.com/tensorrt). ### Triton + Triton is a framework that brings up a generic inference server that can be configured with a model repository, which is a collection of various types of models (e.g. ONNX Runtime, TensorRT Engine Plan, TensorFlow, PyTorch). A brief tutorial on how to set up a model repository is included below, and further documentation on Triton is also available [here](https://github.com/triton-inference-server/server). For more details about the setup of TensorRT and Triton, look [here](docs/tensorrt-and-triton-info.md). ### Isaac ROS NITROS Acceleration -This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://developer.nvidia.com/blog/improve-perception-performance-for-ros-2-applications-with-nvidia-isaac-transport-for-ros/), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes. + +This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://developer.nvidia.com/blog/improve-perception-performance-for-ros-2-applications-with-nvidia-isaac-transport-for-ros/), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes. ## Performance + The following are the benchmark performance results of the prepared pipelines in this package, by supported platform: -| Pipeline | AGX Orin | AGX Xavier | x86_64 w/ RTX 3060 Ti | -| ---------------------- | -------- | ---------- | --------------------- | -| PeopleSemSegNet (544p) | 325 fps | 208 fps | 452 fps | +| Pipeline | AGX Orin | Orin Nano | x86_64 w/ RTX 3060 Ti | +| ---------------------- | ------------------ | ------------------ | --------------------- | +| PeopleSemSegNet (544p) | 260 fps
3.7ms | 128 fps
6.7ms | 300 fps
2ms | +These data have been collected per the methodology described [here](https://github.com/NVIDIA-ISAAC-ROS/.github/blob/main/profile/performance-summary.md#methodology). ## Table of Contents + - [Isaac ROS DNN Inference](#isaac-ros-dnn-inference) - [Overview](#overview) - [TensorRT](#tensorrt) @@ -61,30 +68,30 @@ The following are the benchmark performance results of the prepared pipelines in - [Updates](#updates) ## Latest Update -Update 2022-08-31: Update to be compatible with JetPack 5.0.2 +Update 2022-10-19: Updated OSS licensing ## Supported Platforms + This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU. > **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release. - -| Platform | Hardware | Software | Notes | -| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. | -| x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) | - +| Platform | Hardware | Software | Notes | +| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Jetson | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)
[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. | +| x86_64 | NVIDIA GPU | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/)
[CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) | ### Docker + To simplify development, we strongly recommend leveraging the Isaac ROS Dev Docker images by following [these steps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). This will streamline your development environment setup with the correct versions of dependencies on both Jetson and x86_64 platforms. > **Note:** All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS Docker images as a prerequisite. - ## Quickstart with Triton > **Note**: The quickstart helps with getting raw inference (tensor) results from the two nodes. To use the packages in a useful context and get meaningful results from the package, please refer [here](#use-different-models). + 1. Set up your development environment by following the instructions [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). 2. Clone this repository and its dependencies under `~/workspaces/isaac_ros-dev/src`. @@ -105,69 +112,87 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock ``` 3. Launch the Docker container using the `run_dev.sh` script: + ```bash cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \ ./scripts/run_dev.sh ``` + 4. For this example, we will use `PeopleSemSegNet ShuffleSeg`. Download the ETLT file and the `int8` inference mode cache file: + ```bash mkdir -p /tmp/models/peoplesemsegnet_shuffleseg/1 && \ cd /tmp/models/peoplesemsegnet_shuffleseg && \ wget https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_shuffleseg_unet_v1.0/files/peoplesemsegnet_shuffleseg_etlt.etlt && \ wget https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplesemsegnet/versions/deployable_shuffleseg_unet_v1.0/files/peoplesemsegnet_shuffleseg_cache.txt ``` + 5. Convert the ETLT file to a TensorRT plan file: + ```bash /opt/nvidia/tao/tao-converter -k tlt_encode -d 3,544,960 -p input_2:0,1x3x544x960,1x3x544x960,1x3x544x960 -t int8 -c peoplesemsegnet_shuffleseg_cache.txt -e /tmp/models/peoplesemsegnet_shuffleseg/1/model.plan -o argmax_1 peoplesemsegnet_shuffleseg_etlt.etlt ``` + 6. Create a file named `/tmp/models/peoplesemsegnet_shuffleseg/config.pbtxt` by copying the sample Triton config file: + ```bash cp /workspaces/isaac_ros-dev/src/isaac_ros_dnn_inference/resources/peoplesemsegnet_shuffleseg_config.pbtxt /tmp/models/peoplesemsegnet_shuffleseg/config.pbtxt ``` 7. Inside the container, build and source the workspace: + ```bash cd /workspaces/isaac_ros-dev && \ colcon build --symlink-install && \ source install/setup.bash ``` + 8. (Optional) Run tests to verify complete and correct installation: + ```bash colcon test --executor sequential ``` + 9. Run the following launch files to spin up a demo of this package: Launch Triton: + ```bash ros2 launch isaac_ros_triton isaac_ros_triton.launch.py model_name:=peoplesemsegnet_shuffleseg model_repository_paths:=['/tmp/models'] input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] ``` In **another** terminal, enter the Docker container: + ```bash cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \ ./scripts/run_dev.sh ``` Then, run a test node that sends tensors to Triton: + ```bash source install/setup.bash && \ ros2 run isaac_ros_dnn_inference_test run_test_publisher --ros-args -p dimensions:='[1, 3, 544, 960]' ``` + 10. Visualize and validate the output of the package: - + In a **third** terminal, enter the Docker container: + ```bash cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \ ./scripts/run_dev.sh ``` Then echo the inference result: + ```bash source install/setup.bash && \ ros2 topic echo /tensor_sub ``` The expected result should look like this: - ``` + + ```log header: stamp: sec: 0 @@ -193,50 +218,63 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock ``` ## Quickstart with TensorRT + > **Note**: The quickstart helps with getting raw inference (tensor) results from the two nodes. To use the packages in a useful context and get meaningful results from the package, please refer [here](#use-different-models). + 1. Follow steps 1-5 of the [Quickstart with Triton](#quickstart-with-triton) 2. Inside the container, build and source the workspace: + ```bash cd /workspaces/isaac_ros-dev && \ colcon build --symlink-install && \ source install/setup.bash ``` + 3. (Optional) Run tests to verify complete and correct installation: + ```bash colcon test --executor sequential ``` + 4. Run the following launch files to spin up a demo of this package: Launch TensorRT: + ```bash ros2 launch isaac_ros_tensor_rt isaac_ros_tensor_rt.launch.py engine_file_path:=/tmp/models/peoplesemsegnet_shuffleseg/1/model.plan input_binding_names:=['input_2:0'] output_binding_names:=['argmax_1'] ``` In **another** terminal, enter the Docker container: + ```bash cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \ ./scripts/run_dev.sh ``` Then, run a test node that sends tensors to TensorRT: + ```bash source install/setup.bash && \ ros2 run isaac_ros_dnn_inference_test run_test_publisher --ros-args -p dimensions:='[1, 3, 544, 960]' ``` -5. Visualize and validate the output of the package: + +5. Visualize and validate the output of the package: In a **third** terminal, enter the Docker container: + ```bash cd ~/workspaces/isaac_ros-dev/src/isaac_ros_common && \ ./scripts/run_dev.sh ``` Then echo the inference result: + ```bash source install/setup.bash && \ ros2 topic echo /tensor_sub ``` The expected result should look like this: - ``` + + ```log header: stamp: sec: 0 @@ -260,15 +298,17 @@ To simplify development, we strongly recommend leveraging the Isaac ROS Dev Dock data: [...] ``` -> **Note**: For both the Triton and the TensorRT Quickstarts, the data contents are omitted. The `data_type` field has a value of `5`, corresponding to the `uint32` data type, but the data array will be output in the terminal as `uint8` bytes. -> -> For further details about the `TensorList` message type, see [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg). -> -> To view the results as a segmentation mask, please look at [Isaac ROS Image Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation). +> **Note**: For both the Triton and the TensorRT Quickstarts, the data contents are omitted. The `data_type` field has a value of `5`, corresponding to the `uint32` data type, but the data array will be output in the terminal as `uint8` bytes. +> +> For further details about the `TensorList` message type, see [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg). +> +> To view the results as a segmentation mask, please look at [Isaac ROS Image Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation). ## Next Steps + ### Use Different Models + Click [here](./docs/model-preparation.md) for more information about how to use NGC models. We also natively support the following packages to perform DNN inference in a variety of contexts: @@ -281,11 +321,12 @@ We also natively support the following packages to perform DNN inference in a va | [Pose Estimation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation) | Deep learned, hardware-accelerated 3D object pose estimation | | [Proximity Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_proximity_segmentation) | DNN-based proximity segmentation and obstacle field ranging using Bi3D | - ### Customize your Dev Environment + To customize your development environment, reference [this guide](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/modify-dockerfile.md). ## Package Reference + ### `isaac_ros_dnn_encoders` #### ROS Parameters @@ -298,13 +339,15 @@ To customize your development environment, reference [this guide](https://github | `image_stddev` | `double list` | `[0.5, 0.5, 0.5]` | The standard deviation of the images per channel that will be used for normalization | > **Note**: the following parameters are no longer supported: -> - network_image_encoding -> - maintain_aspect_ratio -> - center_crop -> - tensor_name -> - network_normalization_type +> +> - network_image_encoding +> - maintain_aspect_ratio +> - center_crop +> - tensor_name +> - network_normalization_type #### ROS Topics Subscribed + | ROS Topic | Interface | Description | | --------- | ---------------------------------------------------------------------------------------------------- | ----------------------------------------------- | | `image` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | The image that should be encoded into a tensor. | @@ -312,87 +355,101 @@ To customize your development environment, reference [this guide](https://github > **Limitation:** All input images are required to have height and width that are both an even number of pixels. #### ROS Topics Published + | ROS Topic | Interface | Description | | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------- | | `encoded_tensor` | [isaac_ros_tensor_list_interfaces/TensorList](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) | The resultant tensor after converting the `image`. | ### `isaac_ros_triton` + #### Usage + ```bash ros2 launch isaac_ros_triton isaac_ros_triton.launch.py model_name:= model_repository_paths:= max_batch_size:= input_tensor_names:= input_binding_names:= output_tensor_names:= output_binding_names:= ``` #### ROS Parameters -| ROS Parameter | Type | Default | Description | -| ------------------------- | ------------- | ------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `model_repository_paths` | `string list` | `['']` | The absolute paths to your model repositories in your local file system (the structure should follow Triton requirements)
E.g. `['/tmp/models']` | -| `model_name` | `string` | `""` | The name of your model. Under `model_repository_paths`, there should be a directory with this name, and it should align with the model name in the model configuration under this directory
E.g. `peoplesemsegnet_shuffleseg` | -| `max_batch_size` | `uint16_t` | `8` | The maximum batch size allowed for the model. It should align with the model configuration | -| `num_concurrent_requests` | `uint16_t` | `10` | The number of requests the Triton server can take at a time. This should be set according to the tensor publisher frequency | -| `input_tensor_names` | `string list` | `['input_tensor']` | A list of tensor names to be bound to specified input bindings names. Bindings occur in sequential order, so the first name here will be mapped to the first name in input_binding_names | -| `input_binding_names` | `string list` | `['']` | A list of input tensor binding names specified by model
E.g. `['input_2:0']` | -| `input_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `['nitros_tensor_list_nchw_rgb_f32']` | -| `output_tensor_names` | `string list` | `['output_tensor']` | A list of tensor names to be bound to specified output binding names | -| `output_binding_names` | `string list` | `['']` | A list of tensor names to be bound to specified output binding names
E.g. `['argmax_1']` | -| `output_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `[nitros_tensor_list_nchw_rgb_f32]` | - +| ROS Parameter | Type | Default | Description | +| ------------------------- | ------------- | ------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `model_repository_paths` | `string list` | `['']` | The absolute paths to your model repositories in your local file system (the structure should follow Triton requirements)
E.g. `['/tmp/models']` | +| `model_name` | `string` | `""` | The name of your model. Under `model_repository_paths`, there should be a directory with this name, and it should align with the model name in the model configuration under this directory
E.g. `peoplesemsegnet_shuffleseg` | +| `max_batch_size` | `uint16_t` | `8` | The maximum batch size allowed for the model. It should align with the model configuration | +| `num_concurrent_requests` | `uint16_t` | `10` | The number of requests the Triton server can take at a time. This should be set according to the tensor publisher frequency | +| `input_tensor_names` | `string list` | `['input_tensor']` | A list of tensor names to be bound to specified input bindings names. Bindings occur in sequential order, so the first name here will be mapped to the first name in input_binding_names | +| `input_binding_names` | `string list` | `['']` | A list of input tensor binding names specified by model
E.g. `['input_2:0']` | +| `input_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `['nitros_tensor_list_nchw_rgb_f32']` | +| `output_tensor_names` | `string list` | `['output_tensor']` | A list of tensor names to be bound to specified output binding names | +| `output_binding_names` | `string list` | `['']` | A list of tensor names to be bound to specified output binding names
E.g. `['argmax_1']` | +| `output_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `[nitros_tensor_list_nchw_rgb_f32]` | #### ROS Topics Subscribed + | ROS Topic | Interface | Description | | ------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------- | | `tensor_pub` | [isaac_ros_tensor_list_interfaces/TensorList](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) | The input tensor stream | #### ROS Topics Published + | ROS Topic | Interface | Description | | ------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | | `tensor_sub` | [isaac_ros_tensor_list_interfaces/TensorList](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) | The tensor list of output tensors from the model inference | ### `isaac_ros_tensor_rt` + #### Usage + ```bash ros2 launch isaac_ros_tensor_rt isaac_ros_tensor_rt.launch.py model_file_path:= engine_file_path:= input_tensor_names:= input_binding_names:= output_tensor_names:= output_binding_names:= verbose:= force_engine_update:= ``` #### ROS Parameters -| ROS Parameter | Type | Default | Description | -| ------------------------- | ------------- | ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `model_file_path` | `string` | `model.onnx` | The absolute path to your model file in the local file system (the model file must be .onnx)
E.g. `model.onnx` | -| `engine_file_path` | `string` | `/tmp/trt_engine.plan` | The absolute path to either where you want your TensorRT engine plan to be generated (from your model file) or where your pre-generated engine plan file is located
E.g. `model.plan` | -| `force_engine_update` | `bool` | `true` | If set to true, the node will always try to generate a TensorRT engine plan from your model file and needs to be set to false to use the pre-generated TensorRT engine plan | -| `input_tensor_names` | `string list` | `['input_tensor']` | A list of tensor names to be bound to specified input bindings names. Bindings occur in sequential order, so the first name here will be mapped to the first name in input_binding_names | -| `input_binding_names` | `string list` | `['']` | A list of input tensor binding names specified by model
E.g. `['input_2:0']` | -| `input_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `['nitros_tensor_list_nchw_rgb_f32']` | -| `output_tensor_names` | `string list` | `['output_tensor']` | A list of tensor names to be bound to specified output binding names | -| `output_binding_names` | `string list` | `['']` | A list of tensor names to be bound to specified output binding names
E.g. `['argmax_1']` | -| `output_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `[nitros_tensor_list_nchw_rgb_f32]` | -| `verbose` | `bool` | `true` | If set to true, the node will enable verbose logging to console from the internal TensorRT execution | -| `max_workspace_size` | `int64_t` | `67108864l` | The size of the working space in bytes | -| `max_batch_size` | `int32_t` | `1` | The maximum possible batch size in case the first dimension is dynamic and used as the batch size | -| `dla_core` | `int64_t` | `-1` | The DLA Core to use. Fallback to GPU is always enabled. The default setting is GPU only | -| `enable_fp16` | `bool` | `true` | Enables building a TensorRT engine plan file which uses FP16 precision for inference. If this setting is false, the plan file will use FP32 precision | -| `relaxed_dimension_check` | `bool` | `true` | Ignores dimensions of 1 for the input-tensor dimension check | +| ROS Parameter | Type | Default | Description | +| ------------------------- | ------------- | ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| `model_file_path` | `string` | `model.onnx` | The absolute path to your model file in the local file system (the model file must be .onnx)
E.g. `model.onnx` | +| `engine_file_path` | `string` | `/tmp/trt_engine.plan` | The absolute path to either where you want your TensorRT engine plan to be generated (from your model file) or where your pre-generated engine plan file is located
E.g. `model.plan` | +| `force_engine_update` | `bool` | `true` | If set to true, the node will always try to generate a TensorRT engine plan from your model file and needs to be set to false to use the pre-generated TensorRT engine plan | +| `input_tensor_names` | `string list` | `['input_tensor']` | A list of tensor names to be bound to specified input bindings names. Bindings occur in sequential order, so the first name here will be mapped to the first name in input_binding_names | +| `input_binding_names` | `string list` | `['']` | A list of input tensor binding names specified by model
E.g. `['input_2:0']` | +| `input_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `['nitros_tensor_list_nchw_rgb_f32']` | +| `output_tensor_names` | `string list` | `['output_tensor']` | A list of tensor names to be bound to specified output binding names | +| `output_binding_names` | `string list` | `['']` | A list of tensor names to be bound to specified output binding names
E.g. `['argmax_1']` | +| `output_tensor_formats` | `string list` | `['']` | A list of input tensor nitros formats. This should be given in sequential order
E.g. `[nitros_tensor_list_nchw_rgb_f32]` | +| `verbose` | `bool` | `true` | If set to true, the node will enable verbose logging to console from the internal TensorRT execution | +| `max_workspace_size` | `int64_t` | `67108864l` | The size of the working space in bytes | +| `max_batch_size` | `int32_t` | `1` | The maximum possible batch size in case the first dimension is dynamic and used as the batch size | +| `dla_core` | `int64_t` | `-1` | The DLA Core to use. Fallback to GPU is always enabled. The default setting is GPU only | +| `enable_fp16` | `bool` | `true` | Enables building a TensorRT engine plan file which uses FP16 precision for inference. If this setting is false, the plan file will use FP32 precision | +| `relaxed_dimension_check` | `bool` | `true` | Ignores dimensions of 1 for the input-tensor dimension check | + #### ROS Topics Subscribed + | ROS Topic | Type | Description | | ------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------- | | `tensor_pub` | [isaac_ros_tensor_list_interfaces/TensorList](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) | The input tensor stream | #### ROS Topics Published + | ROS Topic | Type | Description | | ------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | | `tensor_sub` | [isaac_ros_tensor_list_interfaces/TensorList](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) | The tensor list of output tensors from the model inference | ## Troubleshooting + ### Isaac ROS Troubleshooting + For solutions to problems with Isaac ROS, please check [here](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/troubleshooting.md). ### Deep Learning Troubleshooting + For solutions to problems with using DNN models, please check [here](docs/troubleshooting.md). ## Updates + | Date | Changes | | ---------- | ---------------------------------------------------------------------------------------------------------------------------- | +| 2022-10-19 | Updated OSS licensing | | 2022-08-31 | Update to be compatible with JetPack 5.0.2 | | 2022-06-30 | Added format string parameter in Triton/TensorRT, switched to NITROS implementation, removed parameters in DNN Image Encoder | | 2021-11-03 | Split DOPE and U-Net into separate repositories | diff --git a/docs/model-preparation.md b/docs/model-preparation.md index 1eb1634..45de1d7 100644 --- a/docs/model-preparation.md +++ b/docs/model-preparation.md @@ -1,6 +1,7 @@ # Preparing Deep Learning Models for Isaac ROS ## Obtaining a Pre-trained Model from NGC + The NVIDIA GPU Cloud hosts a [catalog](https://catalog.ngc.nvidia.com/models) of Deep Learning pre-trained models that are available for your development. 1. Use the **Search Bar** to find a pre-trained model that you are interested in working with. @@ -15,6 +16,7 @@ The NVIDIA GPU Cloud hosts a [catalog](https://catalog.ngc.nvidia.com/models) of 5. **Paste** the copied command into a terminal to download the model in the current working directory. ## Using `tao-converter` to decrypt the Encrypted TLT Model (`.etlt`) Format + As discussed above, models distributed with the `.etlt` file extension are encrypted and must be decrypted before use via NVIDIA's [`tao-converter`](https://developer.nvidia.com/tao-toolkit-get-started). `tao-converter` is already included in the Docker images available as part of the standard [Isaac ROS Development Environment](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/dev-env-setup.md). @@ -26,22 +28,25 @@ The per-platform installation paths are described below: | x86_64 | `/opt/nvidia/tao/tao-converter-x86-tensorrt8.0/tao-converter` | **`/opt/nvidia/tao/tao-converter`** | | Jetson(aarch64) | `/opt/nvidia/tao/jp5` | **`/opt/nvidia/tao/tao-converter`** | - ### Converting `.etlt` to a TensorRT Engine Plan + Here are some examples for generating the TensorRT engine file using `tao-converter`. In this example, we will use the [`PeopleSemSegnet Shuffleseg` model](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/tao/models/peoplesemsegnet/files?version=deployable_shuffleseg_unet_v1.0): -#### Generate an engine file for the `fp16` data type: +#### Generate an engine file for the `fp16` data type + ```bash mkdir -p /workspaces/isaac_ros-dev/models && \ /opt/nvidia/tao/tao-converter -k tlt_encode -d 3,544,960 -p input_2:0,1x3x544x960,1x3x544x960,1x3x544x960 -t fp16 -e /workspaces/isaac_ros-dev/models/peoplesemsegnet_shuffleseg.engine -o argmax_1 peoplesemsegnet_shuffleseg_etlt.etlt ``` + > **Note:** The specific values used in the command above are retrieved from the **PeopleSemSegnet** page under the **Overview** tab. The model input node name and output node name can be found in `peoplesemsegnet_shuffleseg_cache.txt` from `File Browser`. The output file is specified using the `-e` option. The tool needs write permission to the output directory. > > A detailed explanation of the input parameters is available [here](https://docs.nvidia.com/tao/tao-toolkit/text/tensorrt.html#running-the-tao-converter). -#### Generate an engine file for the data type `int8`: - +#### Generate an engine file for the data type `int8` + Create the models directory: + ```bash mkdir -p /workspaces/isaac_ros-dev/models ``` diff --git a/docs/tensorrt-and-triton-info.md b/docs/tensorrt-and-triton-info.md index b1e5351..af171e3 100644 --- a/docs/tensorrt-and-triton-info.md +++ b/docs/tensorrt-and-triton-info.md @@ -1,41 +1,45 @@ # Isaac ROS Triton and TensorRT Nodes for DNN Inference -NVIDIA's Isaac ROS suite of packages provides two separate nodes for performing DNN inference: Triton and TensorRT. +NVIDIA's Isaac ROS suite of packages provides two separate nodes for performing DNN inference: Triton and TensorRT. Our benchmarks show comparable performance and inference speed with both nodes, so a decision should be based on other characteristics of the overall model being deployed. ## NVIDIA Triton -The NVIDIA Triton Inference Server is an [open-source inference serving software](https://developer.nvidia.com/nvidia-triton-inference-server) that provides a uniform interface for deploying AI models. Crucially, Triton supports a wide array of compute devices like NVIDIA GPUs and both x86 and ARM CPUs, and also operates with all major frameworks such as TensorFlow, TensorRT, and PyTorch. + +The NVIDIA Triton Inference Server is an [open-source inference serving software](https://developer.nvidia.com/nvidia-triton-inference-server) that provides a uniform interface for deploying AI models. Crucially, Triton supports a wide array of compute devices like NVIDIA GPUs and both x86 and ARM CPUs, and also operates with all major frameworks such as TensorFlow, TensorRT, and PyTorch. Because Triton can take advantage of additional compute devices beyond just the GPU, Triton can be a better choice in situations where there is GPU resource contention from other model inference or processing tasks. However, in order to provide for this flexibility, Triton requires the creation of a model repository and additional configuration files before deployment. ## NVIDIA TensorRT -NVIDIA TensorRT is a specific CUDA-based, on-GPU inference framework that performs a number of optimizations to deliver extremely performant model execution. TensorRT only supports ONNX and TensorRT Engine Plans, providing less flexibility than Triton but also requiring less initial configuration. + +NVIDIA TensorRT is a specific CUDA-based, on-GPU inference framework that performs a number of optimizations to deliver extremely performant model execution. TensorRT only supports ONNX and TensorRT Engine Plans, providing less flexibility than Triton but also requiring less initial configuration. ## Using either Triton or TensorRT Nodes -Both nodes use the Isaac ROS [Tensor List message](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) for input data and output inference result. + +Both nodes use the Isaac ROS [Tensor List message](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/isaac_ros_tensor_list_interfaces/msg/TensorList.msg) for input data and output inference result. Users can either prepare a custom model or download pre-trained models from NGC as described [here](./model-preparation.md#obtaining-a-pre-trained-model-from-ngc). Models should be converted to the TensorRT Engine File format using the `tao-converter` tool as described [here](./model-preparation.md#using-tao-converter-to-decrypt-the-encrypted-tlt-model-etlt-format). -> **Note:** While the TensorRT node can automatically convert ONNX plans to the TensorRT Engine Plan format if configured to use a `.onnx` file, this conversion step will considerably extend the node's per-launch initial setup time. -> +> **Note:** While the TensorRT node can automatically convert ONNX plans to the TensorRT Engine Plan format if configured to use a `.onnx` file, this conversion step will considerably extend the node's per-launch initial setup time. +> > As a result, we recommend converting any ONNX models to TensorRT Engine Plans first, and configuring the TensorRT node to use the Engine Plan instead. - ## Pre- and Post-Processing Nodes -In order to be a useful component of a ROS graph, both Isaac ROS Triton and TensorRT inference nodes will require application-specific `pre-processor` (`encoder`) and `post-processor` (`decoder`) nodes to handle type conversion and other necessary steps. -A `pre-processor` node should take in a ROS2 message, perform the pre-processing steps dictated by the model, and then convert the data into an Isaac ROS Tensor List message. For example, a `pre-processor` node could resize an image, normalize it, and then convert it into a Tensor List. +In order to be a useful component of a ROS graph, both Isaac ROS Triton and TensorRT inference nodes will require application-specific `pre-processor` (`encoder`) and `post-processor` (`decoder`) nodes to handle type conversion and other necessary steps. + +A `pre-processor` node should take in a ROS2 message, perform the pre-processing steps dictated by the model, and then convert the data into an Isaac ROS Tensor List message. For example, a `pre-processor` node could resize an image, normalize it, and then convert it into a Tensor List. -A `post-processor` node should be used to convert the Isaac ROS Tensor List output of the model inference into a useful ROS2 message. For example, a `post-processor` node may perform argmax to identify the class label from a classification problem. +A `post-processor` node should be used to convert the Isaac ROS Tensor List output of the model inference into a useful ROS2 message. For example, a `post-processor` node may perform argmax to identify the class label from a classification problem. -
+
-![Using TensorRT or Triton](../resources/pipeline.png "Using TensorRT or Triton") +![Using TensorRT or Triton](../resources/pipeline.png "Using TensorRT or Triton")
## Further Reading -For more documentation on Triton, see [here](https://developer.nvidia.com/nvidia-triton-inference-server). -For more documentation on TensorRT, see [here](https://developer.nvidia.com/tensorrt). +For more documentation on Triton, see [here](https://developer.nvidia.com/nvidia-triton-inference-server). + +For more documentation on TensorRT, see [here](https://developer.nvidia.com/tensorrt). diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 82a9aed..90e2d05 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -1,9 +1,12 @@ # DNN Inference Troubleshooting + ## Seeing operation failed followed by the process dying + One cause of this issue is when the GPU being used does not have enough memory to run the model. For example, DOPE may require up to 6GB of VRAM to operate, depending on the application. ### Symptom -``` + +```log [component_container_mt-1] 2022-06-27 08:35:37.518 ERROR extensions/tensor_ops/Reshape.cpp@71: reshape tensor failed. [component_container_mt-1] 2022-06-27 08:35:37.518 ERROR extensions/tensor_ops/TensorOperator.cpp@151: operation failed. [component_container_mt-1] 2022-06-27 08:35:37.518 ERROR gxf/std/entity_executor.cpp@200: Entity with 102 not found! @@ -14,5 +17,7 @@ One cause of this issue is when the GPU being used does not have enough memory t [component_container_mt-1] what(): [NitrosPublisher] Vault ("vault/vault", eid=102) was stopped. The graph may have been terminated due to an error. [ERROR] [component_container_mt-1]: process has died [pid 13378, exit code -6, cmd '/opt/ros/humble/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=dope_container -r __ns:=/']. ``` + ### Solution + Try using the Isaac ROS TensorRT node or the Isaac ROS Triton node with the TensorRT backend instead. Otherwise, a discrete GPU with more VRAM may be required. diff --git a/isaac_ros_dnn_encoders/CMakeLists.txt b/isaac_ros_dnn_encoders/CMakeLists.txt index ef7f1b5..7addd0e 100644 --- a/isaac_ros_dnn_encoders/CMakeLists.txt +++ b/isaac_ros_dnn_encoders/CMakeLists.txt @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 cmake_minimum_required(VERSION 3.8) project(isaac_ros_dnn_encoders LANGUAGES C CXX) @@ -58,10 +67,6 @@ install(TARGETS dnn_image_encoder_node if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) - - # Ignore copyright notices since we use custom NVIDIA Isaac ROS Software License - set(ament_cmake_copyright_FOUND TRUE) - ament_lint_auto_find_test_dependencies() find_package(launch_testing_ament_cmake REQUIRED) diff --git a/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml b/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml index 65dd969..b3b4dfe 100644 --- a/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml +++ b/isaac_ros_dnn_encoders/config/dnn_image_encoder_node.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: global components: diff --git a/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml b/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml index ca38a18..5b0404d 100644 --- a/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml +++ b/isaac_ros_dnn_encoders/config/namespace_injector_rule.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: DNN Image Encoder Namespace Injector Rule operation: namespace_injector diff --git a/isaac_ros_dnn_encoders/include/isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp b/isaac_ros_dnn_encoders/include/isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp index 9ff9a99..20efc22 100644 --- a/isaac_ros_dnn_encoders/include/isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp +++ b/isaac_ros_dnn_encoders/include/isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #ifndef ISAAC_ROS_DNN_ENCODERS__DNN_IMAGE_ENCODER_NODE_HPP_ #define ISAAC_ROS_DNN_ENCODERS__DNN_IMAGE_ENCODER_NODE_HPP_ diff --git a/isaac_ros_dnn_encoders/package.xml b/isaac_ros_dnn_encoders/package.xml index 4da1f93..9a53bdf 100644 --- a/isaac_ros_dnn_encoders/package.xml +++ b/isaac_ros_dnn_encoders/package.xml @@ -1,22 +1,30 @@ isaac_ros_dnn_encoders - 0.11.0 + 0.20.0 Encoders for preprocessing before running deep learning inference Hemal Shah - NVIDIA Isaac ROS Software License + Apache-2.0 https://developer.nvidia.com/isaac-ros-gems/ Ethan Yu Kajanan Chinniah diff --git a/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp b/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp index 06e83d8..6600350 100644 --- a/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp +++ b/isaac_ros_dnn_encoders/src/dnn_image_encoder_node.cpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #include "isaac_ros_dnn_encoders/dnn_image_encoder_node.hpp" diff --git a/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_image_norm_test.py b/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_image_norm_test.py index d2d114a..f1fa95f 100644 --- a/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_image_norm_test.py +++ b/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_image_norm_test.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 from math import floor import os diff --git a/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_test.py b/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_test.py index a1352f4..0d124c3 100644 --- a/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_test.py +++ b/isaac_ros_dnn_encoders/test/isaac_ros_dnn_image_encoder_test.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import os import pathlib diff --git a/isaac_ros_dnn_inference_test/CMakeLists.txt b/isaac_ros_dnn_inference_test/CMakeLists.txt index a997c49..c071287 100644 --- a/isaac_ros_dnn_inference_test/CMakeLists.txt +++ b/isaac_ros_dnn_inference_test/CMakeLists.txt @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 cmake_minimum_required(VERSION 3.5) project(isaac_ros_dnn_inference_test LANGUAGES C CXX) @@ -56,10 +65,6 @@ install(TARGETS "run_test_publisher" if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) - - # Ignore copyright notices since we use custom NVIDIA Isaac ROS Software License - set(ament_cmake_copyright_FOUND TRUE) - ament_lint_auto_find_test_dependencies() endif() diff --git a/isaac_ros_dnn_inference_test/include/isaac_ros_dnn_inference_test/test_tensor_publisher_node.hpp b/isaac_ros_dnn_inference_test/include/isaac_ros_dnn_inference_test/test_tensor_publisher_node.hpp index 650a73d..d4d6483 100644 --- a/isaac_ros_dnn_inference_test/include/isaac_ros_dnn_inference_test/test_tensor_publisher_node.hpp +++ b/isaac_ros_dnn_inference_test/include/isaac_ros_dnn_inference_test/test_tensor_publisher_node.hpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #ifndef ISAAC_ROS_DNN_INFERENCE_TEST__TEST_TENSOR_PUBLISHER_NODE_HPP_ #define ISAAC_ROS_DNN_INFERENCE_TEST__TEST_TENSOR_PUBLISHER_NODE_HPP_ diff --git a/isaac_ros_dnn_inference_test/package.xml b/isaac_ros_dnn_inference_test/package.xml index fc8901c..6a2e2e0 100644 --- a/isaac_ros_dnn_inference_test/package.xml +++ b/isaac_ros_dnn_inference_test/package.xml @@ -1,23 +1,31 @@ isaac_ros_dnn_inference_test - 0.11.0 + 0.20.0 DNN Inference support for Isaac ROS Hemal Shah - NVIDIA Isaac ROS Software License + Apache-2.0 https://developer.nvidia.com/isaac-ros-gems/ Isaac Chang Ethan Yu diff --git a/isaac_ros_dnn_inference_test/src/test_tensor_publisher_main.cpp b/isaac_ros_dnn_inference_test/src/test_tensor_publisher_main.cpp index daa48b8..874859f 100644 --- a/isaac_ros_dnn_inference_test/src/test_tensor_publisher_main.cpp +++ b/isaac_ros_dnn_inference_test/src/test_tensor_publisher_main.cpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #include #include diff --git a/isaac_ros_dnn_inference_test/src/test_tensor_publisher_node.cpp b/isaac_ros_dnn_inference_test/src/test_tensor_publisher_node.cpp index 3946685..e1197a9 100644 --- a/isaac_ros_dnn_inference_test/src/test_tensor_publisher_node.cpp +++ b/isaac_ros_dnn_inference_test/src/test_tensor_publisher_node.cpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #include "isaac_ros_dnn_inference_test/test_tensor_publisher_node.hpp" diff --git a/isaac_ros_tensor_rt/CMakeLists.txt b/isaac_ros_tensor_rt/CMakeLists.txt index 2efd7e3..037e414 100644 --- a/isaac_ros_tensor_rt/CMakeLists.txt +++ b/isaac_ros_tensor_rt/CMakeLists.txt @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 cmake_minimum_required(VERSION 3.8) project(isaac_ros_tensor_rt LANGUAGES C CXX) @@ -49,10 +58,6 @@ install( if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) - - # Ignore copyright notices since we use custom NVIDIA Isaac ROS Software License - set(ament_cmake_copyright_FOUND TRUE) - ament_lint_auto_find_test_dependencies() find_package(launch_testing_ament_cmake REQUIRED) diff --git a/isaac_ros_tensor_rt/config/namespace_injector_rule.yaml b/isaac_ros_tensor_rt/config/namespace_injector_rule.yaml index 6403557..bae5a5f 100644 --- a/isaac_ros_tensor_rt/config/namespace_injector_rule.yaml +++ b/isaac_ros_tensor_rt/config/namespace_injector_rule.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: Tensor RT Inference Namespace Injector Rule operation: namespace_injector diff --git a/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml b/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml index 1bb18f4..f484589 100644 --- a/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml +++ b/isaac_ros_tensor_rt/config/tensor_rt_inference.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2020-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: inference components: diff --git a/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp b/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp index 76e4792..e05b197 100644 --- a/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp +++ b/isaac_ros_tensor_rt/include/isaac_ros_tensor_rt/tensor_rt_node.hpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #ifndef ISAAC_ROS_TENSOR_RT__TENSOR_RT_NODE_HPP_ #define ISAAC_ROS_TENSOR_RT__TENSOR_RT_NODE_HPP_ diff --git a/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py b/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py index b22f1ed..4933b20 100644 --- a/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py +++ b/isaac_ros_tensor_rt/launch/isaac_ros_tensor_rt.launch.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import launch from launch.actions import DeclareLaunchArgument diff --git a/isaac_ros_tensor_rt/package.xml b/isaac_ros_tensor_rt/package.xml index f7ce36b..05ff5ba 100644 --- a/isaac_ros_tensor_rt/package.xml +++ b/isaac_ros_tensor_rt/package.xml @@ -1,23 +1,31 @@ isaac_ros_tensor_rt - 0.11.0 + 0.20.0 DNN Inference support for Isaac ROS CY Chen - NVIDIA Isaac ROS Software License + Apache-2.0 https://developer.nvidia.com/isaac-ros-gems/ CY Chen Isaac Chan diff --git a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp index a7515be..cc12b29 100644 --- a/isaac_ros_tensor_rt/src/tensor_rt_node.cpp +++ b/isaac_ros_tensor_rt/src/tensor_rt_node.cpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #include "isaac_ros_tensor_rt/tensor_rt_node.hpp" diff --git a/isaac_ros_tensor_rt/test/isaac_ros_tensor_rt_test.py b/isaac_ros_tensor_rt/test/isaac_ros_tensor_rt_test.py index ce3716c..5e25471 100644 --- a/isaac_ros_tensor_rt/test/isaac_ros_tensor_rt_test.py +++ b/isaac_ros_tensor_rt/test/isaac_ros_tensor_rt_test.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import errno import os diff --git a/isaac_ros_triton/CMakeLists.txt b/isaac_ros_triton/CMakeLists.txt index 70f9d4e..86985b3 100644 --- a/isaac_ros_triton/CMakeLists.txt +++ b/isaac_ros_triton/CMakeLists.txt @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 cmake_minimum_required(VERSION 3.13) project(isaac_ros_triton LANGUAGES C CXX) @@ -57,19 +66,8 @@ install(TARGETS isaac_ros_triton_node RUNTIME DESTINATION bin ) -# Install extensions directory -if( ${ARCHITECTURE} STREQUAL "x86_64" ) - install(DIRECTORY gxf/lib/gxf_x86_64/ DESTINATION share/${PROJECT_NAME}/gxf) -elseif( ${ARCHITECTURE} STREQUAL "aarch64" ) - install(DIRECTORY gxf/lib/gxf_jetpack50/ DESTINATION share/${PROJECT_NAME}/gxf) -endif() - if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) - - # Ignore copyright notices since we use custom NVIDIA Isaac ROS Software License - set(ament_cmake_copyright_FOUND TRUE) - ament_lint_auto_find_test_dependencies() find_package(launch_testing_ament_cmake REQUIRED) diff --git a/isaac_ros_triton/config/namespace_injector_rule.yaml b/isaac_ros_triton/config/namespace_injector_rule.yaml index 5cc2244..a0e2080 100644 --- a/isaac_ros_triton/config/namespace_injector_rule.yaml +++ b/isaac_ros_triton/config/namespace_injector_rule.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: Triton Namespace Injector Rule operation: namespace_injector diff --git a/isaac_ros_triton/config/triton_node.yaml b/isaac_ros_triton/config/triton_node.yaml index 8744f32..0086474 100644 --- a/isaac_ros_triton/config/triton_node.yaml +++ b/isaac_ros_triton/config/triton_node.yaml @@ -1,11 +1,20 @@ %YAML 1.2 -# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 --- name: triton_server components: diff --git a/isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LICENSE.txt b/isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LICENSE.txt deleted file mode 100644 index b8d2e37..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LICENSE.txt +++ /dev/null @@ -1,5484 +0,0 @@ -/* Sample apps are provided under the following license: - * - * Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. - * - * 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. - * -*/ - -/* libnvds_kafka_proto.so uses librdkafka.so which is provided under the - * following terms: -################################################################################ -# librdkafka - Apache Kafka C driver library -# -# Copyright (c) 2012-2018, Magnus Edenhill -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 OR CONTRIBUTORS 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. -################################################################################ -*/ - -/* libnvds_amqp_proto.so uses librabbitmq.so which is provided under the - * following terms: -################################################################################ -# Portions created by Alan Antonuk are Copyright (c) 2012-2013 -# Alan Antonuk. All Rights Reserved. -# -# Portions created by VMware are Copyright (c) 2007-2012 VMware, Inc. -# All Rights Reserved. -# -# Portions created by Tony Garnock-Jones are Copyright (c) 2009-2010 -# VMware, Inc. and Tony Garnock-Jones. All Rights Reserved. -# -# 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. -*/ - -/* libnvds_azure_proto.so and libnvds_azure_edge_proto.so use - * libiothub_client.so which is provided under the following terms: -############################################################################### -# Microsoft Azure IoT SDKs -# Copyright (c) Microsoft Corporation -# All rights reserved. -# MIT License -# 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. -############################################################################### -*/ - -/* libnvds_nvdcf.so, libnvds_mot_iou.so, libnvds_mot_klt.so, libnvds_tracker.so - * and libnvds_infer.so use opencv 3.4.0 which is provided under the following - * terms: -# ############################################################################### -# License Agreement -# For Open Source Computer Vision Library -# (3-clause BSD License) -# -# Copyright (C) 2000-2016, Intel Corporation, all rights reserved. -# Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. -# Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved. -# Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved. -# Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved. -# Copyright (C) 2015-2016, Itseez Inc., all rights reserved. -# Third party copyrights are property of their respective owners. -# -# Redistribution and use in source and binary forms, with or without modification, -# are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# * Neither the names of the copyright holders nor the names of the contributors -# may be used to endorse or promote products derived from this software -# without specific prior written permission. -# -# This software is provided by the copyright holders and contributors "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 copyright holders or contributors 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. -############################################################################### -*/ - -/* libnvdsgst_dsexample.so is provided under the following terms: -################################################################################ -# Copyright (c) 2018-2019, NVIDIA CORPORATION. All rights reserved. -# -# 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. -################################################################################ -*/ - -/* libnvds_infer_server.so uses Google Protobuf v3.0.0 which is provided under - * the following terms: -################################################################################ -# This license applies to all parts of Protocol Buffers except the following: -# -# - Atomicops support for generic gcc, located in -# src/google/protobuf/stubs/atomicops_internals_generic_gcc.h. -# This file is copyrighted by Red Hat Inc. -# -# - Atomicops support for AIX/POWER, located in -# src/google/protobuf/stubs/atomicops_internals_power.h. -# This file is copyrighted by Bloomberg Finance LP. -# -# Copyright 2014, Google Inc. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are -# met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following disclaimer -# in the documentation and/or other materials provided with the -# distribution. -# * Neither the name of Google Inc. nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "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 OR CONTRIBUTORS 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. -# -# Code generated by the Protocol Buffer compiler is owned by the owner -# of the input file used when generating it. This code is not -# standalone and requires a support library to be linked with it. 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IN NO EVENT SHALL THE -FREE SOFTWARE FOUNDATION 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. - -Except as contained in this notice, the name of the Free Software Foundation -shall not be used in advertising or otherwise to promote the sale, use or -other dealings in this Software without prior written authorization from the -Free Software Foundation. - - ---------------------------------------- - -Code and supporting documentation (c) Copyright 1990 1991 Tektronix, Inc. - All Rights Reserved - -This file is a component of an X Window System-specific implementation -of Xcms based on the TekColor Color Management System. TekColor is a -trademark of Tektronix, Inc. The term "TekHVC" designates a particular -color space that is the subject of U.S. Patent No. 4,985,853 (equivalent -foreign patents pending). Permission is hereby granted to use, copy, -modify, sell, and otherwise distribute this software and its -documentation for any purpose and without fee, provided that: - -1. This copyright, permission, and disclaimer notice is reproduced in - all copies of this software and any modification thereof and in - supporting documentation; -2. Any color-handling application which displays TekHVC color - cooordinates identifies these as TekHVC color coordinates in any - interface that displays these coordinates and in any associated - documentation; -3. The term "TekHVC" is always used, and is only used, in association - with the mathematical derivations of the TekHVC Color Space, - including those provided in this file and any equivalent pathways and - mathematical derivations, regardless of digital (e.g., floating point - or integer) representation. - -Tektronix makes no representation about the suitability of this software -for any purpose. It is provided "as is" and with all faults. - -TEKTRONIX DISCLAIMS ALL WARRANTIES APPLICABLE TO THIS SOFTWARE, -INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A -PARTICULAR PURPOSE. IN NO EVENT SHALL TEKTRONIX BE LIABLE FOR ANY -SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER -RESULTING FROM LOSS OF USE, DATA, OR PROFITS, WHETHER IN AN ACTION OF -CONTRACT, NEGLIGENCE, OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN -CONNECTION WITH THE USE OR THE PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -(c) Copyright 1995 FUJITSU LIMITED -This is source code modified by FUJITSU LIMITED under the Joint -Development Agreement for the CDE/Motif PST. - - ---------------------------------------- - -Copyright 1992 by Oki Technosystems Laboratory, Inc. -Copyright 1992 by Fuji Xerox Co., Ltd. - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Oki Technosystems -Laboratory and Fuji Xerox not be used in advertising or publicity -pertaining to distribution of the software without specific, written -prior permission. -Oki Technosystems Laboratory and Fuji Xerox make no representations -about the suitability of this software for any purpose. It is provided -"as is" without express or implied warranty. - -OKI TECHNOSYSTEMS LABORATORY AND FUJI XEROX DISCLAIM ALL WARRANTIES -WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL OKI TECHNOSYSTEMS -LABORATORY AND FUJI XEROX BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS -OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE -OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1990, 1991, 1992, 1993, 1994 by FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of FUJITSU LIMITED -not be used in advertising or publicity pertaining to distribution -of the software without specific, written prior permission. -FUJITSU LIMITED makes no representations about the suitability of -this software for any purpose. -It is provided "as is" without express or implied warranty. - -FUJITSU LIMITED DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL FUJITSU LIMITED BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - - -Copyright (c) 1995 David E. Wexelblat. All rights reserved - -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 DAVID E. WEXELBLAT 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. - -Except as contained in this notice, the name of David E. Wexelblat shall -not be used in advertising or otherwise to promote the sale, use or -other dealings in this Software without prior written authorization -from David E. Wexelblat. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name OMRON not be used in -advertising or publicity pertaining to distribution of the software without -specific, written prior permission. OMRON makes no representations -about the suitability of this software for any purpose. It is provided -"as is" without express or implied warranty. - -OMRON DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL OMRON BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTUOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1985, 1986, 1987, 1988, 1989, 1990, 1991 by -Digital Equipment Corporation - -Portions Copyright 1990, 1991 by Tektronix, Inc - -Rewritten for X.org by Chris Lee - -Permission to use, copy, modify, distribute, and sell this documentation -for any purpose and without fee is hereby granted, provided that the above -copyright notice and this permission notice appear in all copies. -Chris Lee makes no representations about the suitability for any purpose -of the information in this document. It is provided \`\`as-is'' without -express or implied warranty. - - ---------------------------------------- - -Copyright 1993 by Digital Equipment Corporation, Maynard, Massachusetts, -Copyright 1994 by FUJITSU LIMITED -Copyright 1994 by Sony Corporation - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the names of Digital, FUJITSU -LIMITED and Sony Corporation not be used in advertising or publicity -pertaining to distribution of the software without specific, written -prior permission. - -DIGITAL, FUJITSU LIMITED AND SONY CORPORATION DISCLAIMS ALL WARRANTIES -WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL DIGITAL, FUJITSU LIMITED -AND SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - - -Copyright 1991 by the Open Software Foundation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of Open Software Foundation -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Open Software -Foundation makes no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OPEN SOFTWARE FOUNDATION DISCLAIMS ALL WARRANTIES WITH REGARD TO -THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL OPEN SOFTWARE FOUNDATIONN BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1990, 1991, 1992,1993, 1994 by FUJITSU LIMITED -Copyright 1993, 1994 by Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software and -its documentation for any purpose is hereby granted without fee, provided -that the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of FUJITSU LIMITED and Sony Corporation -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. FUJITSU LIMITED and -Sony Corporation makes no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -FUJITSU LIMITED AND SONY CORPORATION DISCLAIMS ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL FUJITSU LIMITED OR SONY CORPORATION BE LIABLE -FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER -RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, -NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE -USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright (c) 1993, 1995 by Silicon Graphics Computer Systems, Inc. - -Permission to use, copy, modify, and distribute this -software and its documentation for any purpose and without -fee is hereby granted, provided that the above copyright -notice appear in all copies and that both that copyright -notice and this permission notice appear in supporting -documentation, and that the name of Silicon Graphics not be -used in advertising or publicity pertaining to distribution -of the software without specific prior written permission. -Silicon Graphics makes no representation about the suitability -of this software for any purpose. It is provided "as is" -without any express or implied warranty. - -SILICON GRAPHICS DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS -SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON -GRAPHICS BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL -DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH -THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1991, 1992, 1993, 1994 by FUJITSU LIMITED -Copyright 1993 by Digital Equipment Corporation - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of FUJITSU LIMITED and -Digital Equipment Corporation not be used in advertising or publicity -pertaining to distribution of the software without specific, written -prior permission. FUJITSU LIMITED and Digital Equipment Corporation -makes no representations about the suitability of this software for -any purpose. It is provided "as is" without express or implied -warranty. - -FUJITSU LIMITED AND DIGITAL EQUIPMENT CORPORATION DISCLAIM ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -FUJITSU LIMITED AND DIGITAL EQUIPMENT CORPORATION BE LIABLE FOR -ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER -IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF -THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1992, 1993 by FUJITSU LIMITED -Copyright 1993 by Fujitsu Open Systems Solutions, Inc. -Copyright 1994 by Sony Corporation - -Permission to use, copy, modify, distribute and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of FUJITSU LIMITED, -Fujitsu Open Systems Solutions, Inc. and Sony Corporation not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. -FUJITSU LIMITED, Fujitsu Open Systems Solutions, Inc. and -Sony Corporation make no representations about the suitability of -this software for any purpose. It is provided "as is" without -express or implied warranty. - -FUJITSU LIMITED, FUJITSU OPEN SYSTEMS SOLUTIONS, INC. AND SONY -CORPORATION DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, -IN NO EVENT SHALL FUJITSU OPEN SYSTEMS SOLUTIONS, INC., FUJITSU LIMITED -AND SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS -OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE -OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1987, 1988, 1990, 1993 by Digital Equipment Corporation, -Maynard, Massachusetts, - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of Digital not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -DIGITAL DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - -Copyright 1993 by SunSoft, Inc. -Copyright 1999-2000 by Bruno Haible - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the names of SunSoft, Inc. and -Bruno Haible not be used in advertising or publicity pertaining to -distribution of the software without specific, written prior -permission. SunSoft, Inc. and Bruno Haible make no representations -about the suitability of this software for any purpose. It is -provided "as is" without express or implied warranty. - -SunSoft Inc. AND Bruno Haible DISCLAIM ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS, IN NO EVENT SHALL SunSoft, Inc. OR Bruno Haible BE LIABLE -FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT -OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the TOSHIBA Corp. - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of Open Software Foundation and TOSHIBA -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Open Software -Foundation and TOSHIBA make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OPEN SOFTWARE FOUNDATION AND TOSHIBA DISCLAIM ALL WARRANTIES WITH REGARD TO -THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL OPEN SOFTWARE FOUNDATIONN OR TOSHIBA BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1988 by Wyse Technology, Inc., San Jose, Ca., - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name Wyse not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -WYSE DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - - -Copyright 1991 by the Open Software Foundation -Copyright 1993, 1994 by the Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of Open Software Foundation and -Sony Corporation not be used in advertising or publicity pertaining to -distribution of the software without specific, written prior permission. -Open Software Foundation and Sony Corporation make no -representations about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -OPEN SOFTWARE FOUNDATION AND SONY CORPORATION DISCLAIM ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL OPEN -SOFTWARE FOUNDATIONN OR SONY CORPORATION BE LIABLE FOR ANY SPECIAL, -INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM -LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1992, 1993 by FUJITSU LIMITED -Copyright 1993 by Fujitsu Open Systems Solutions, Inc. - -Permission to use, copy, modify, distribute and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of FUJITSU LIMITED and -Fujitsu Open Systems Solutions, Inc. not be used in advertising or -publicity pertaining to distribution of the software without specific, -written prior permission. -FUJITSU LIMITED and Fujitsu Open Systems Solutions, Inc. makes no -representations about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -FUJITSU LIMITED AND FUJITSU OPEN SYSTEMS SOLUTIONS, INC. DISCLAIMS ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES -OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL FUJITSU OPEN SYSTEMS -SOLUTIONS, INC. AND FUJITSU LIMITED BE LIABLE FOR ANY SPECIAL, INDIRECT -OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE -OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1993, 1994 by Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Sony Corporation -not be used in advertising or publicity pertaining to distribution -of the software without specific, written prior permission. -Sony Corporation makes no representations about the suitability of -this software for any purpose. It is provided "as is" without -express or implied warranty. - -SONY CORPORATION DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1986, 1998 The Open Group -Copyright (c) 2000 The XFree86 Project, Inc. - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation. - -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 -X CONSORTIUM OR THE XFREE86 PROJECT 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. - -Except as contained in this notice, the name of the X Consortium or of the -XFree86 Project shall not be used in advertising or otherwise to promote the -sale, use or other dealings in this Software without prior written -authorization from the X Consortium and the XFree86 Project. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, NTT, and -Open Software Foundation not be used in advertising or publicity -pertaining to distribution of the software without specific, -written prior permission. OMRON, NTT Software, NTT, and Open Software -Foundation make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OMRON, NTT SOFTWARE, NTT, AND OPEN SOFTWARE FOUNDATION -DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT -SHALL OMRON, NTT SOFTWARE, NTT, OR OPEN SOFTWARE FOUNDATION BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1988 by Wyse Technology, Inc., San Jose, Ca, -Copyright 1987 by Digital Equipment Corporation, Maynard, Massachusetts, - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name Digital not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -DIGITAL AND WYSE DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL DIGITAL OR WYSE BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - - -Copyright 1991, 1992 by Fuji Xerox Co., Ltd. -Copyright 1992, 1993, 1994 by FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Fuji Xerox, -FUJITSU LIMITED not be used in advertising or publicity pertaining -to distribution of the software without specific, written prior -permission. Fuji Xerox, FUJITSU LIMITED make no representations -about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -FUJI XEROX, FUJITSU LIMITED DISCLAIM ALL WARRANTIES WITH -REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL FUJI XEROX, -FUJITSU LIMITED BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL -DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA -OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 2006 Josh Triplett - -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 X CONSORTIUM 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. - - ---------------------------------------- - -(c) Copyright 1996 by Sebastien Marineau and Holger Veit - - - -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 -HOLGER VEIT 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. - -Except as contained in this notice, the name of Sebastien Marineau or Holger Veit -shall not be used in advertising or otherwise to promote the sale, use or other -dealings in this Software without prior written authorization from Holger Veit or -Sebastien Marineau. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the TOSHIBA Corp. -Copyright 1993, 1994 by Sony Corporation -Copyright 1993, 1994 by the FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, NTT, Open -Software Foundation, and Sony Corporation not be used in advertising -or publicity pertaining to distribution of the software without specific, -written prior permission. OMRON, NTT Software, NTT, Open Software -Foundation, and Sony Corporation make no representations about the -suitability of this software for any purpose. It is provided "as is" -without express or implied warranty. - -OMRON, NTT SOFTWARE, NTT, OPEN SOFTWARE FOUNDATION, AND SONY -CORPORATION DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT -SHALL OMRON, NTT SOFTWARE, NTT, OPEN SOFTWARE FOUNDATION, OR SONY -CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER -IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT -OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 2000 by Bruno Haible - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Bruno Haible not -be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Bruno Haible -makes no representations about the suitability of this software for -any purpose. It is provided "as is" without express or implied -warranty. - -Bruno Haible DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN -NO EVENT SHALL Bruno Haible BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS -OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE -OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright © 2003 Keith Packard - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of Keith Packard not be used in -advertising or publicity pertaining to distribution of the software without -specific, written prior permission. Keith Packard makes no -representations about the suitability of this software for any purpose. It -is provided "as is" without express or implied warranty. - -KEITH PACKARD DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL KEITH PACKARD BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright (c) 2007-2009, Troy D. Hanson -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 -OR CONTRIBUTORS 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. - - ---------------------------------------- - -Copyright 1992, 1993 by TOSHIBA Corp. - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, provided -that the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of TOSHIBA not be used in advertising -or publicity pertaining to distribution of the software without specific, -written prior permission. TOSHIBA make no representations about the -suitability of this software for any purpose. It is provided "as is" -without express or implied warranty. - -TOSHIBA DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -TOSHIBA BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - - ---------------------------------------- - -Copyright IBM Corporation 1993 - -All Rights Reserved - -License to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of IBM not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -IBM DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS, AND -NONINFRINGEMENT OF THIRD PARTY RIGHTS, IN NO EVENT SHALL -IBM BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, and NTT -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. OMRON, NTT Software, -and NTT make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OMRON, NTT SOFTWARE, AND NTT, DISCLAIM ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS, IN NO EVENT SHALL OMRON, NTT SOFTWARE, OR NTT, BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. -================================================================================ - -Eigen -================================================================================ -Mozilla Public License Version 2.0 -================================== - -1. Definitions --------------- - -1.1. "Contributor" - means each individual or legal entity that creates, contributes to - the creation of, or owns Covered Software. - -1.2. "Contributor Version" - means the combination of the Contributions of others (if any) used - by a Contributor and that particular Contributor's Contribution. - -1.3. "Contribution" - means Covered Software of a particular Contributor. - -1.4. "Covered Software" - means Source Code Form to which the initial Contributor has attached - the notice in Exhibit A, the Executable Form of such Source Code - Form, and Modifications of such Source Code Form, in each case - including portions thereof. - -1.5. "Incompatible With Secondary Licenses" - means - - (a) that the initial Contributor has attached the notice described - in Exhibit B to the Covered Software; or - - (b) that the Covered Software was made available under the terms of - version 1.1 or earlier of the License, but not also under the - terms of a Secondary License. - -1.6. "Executable Form" - means any form of the work other than Source Code Form. - -1.7. "Larger Work" - means a work that combines Covered Software with other material, in - a separate file or files, that is not Covered Software. - -1.8. "License" - means this document. - -1.9. "Licensable" - means having the right to grant, to the maximum extent possible, - whether at the time of the initial grant or subsequently, any and - all of the rights conveyed by this License. - -1.10. "Modifications" - means any of the following: - - (a) any file in Source Code Form that results from an addition to, - deletion from, or modification of the contents of Covered - Software; or - - (b) any new file in Source Code Form that contains any Covered - Software. - -1.11. "Patent Claims" of a Contributor - means any patent claim(s), including without limitation, method, - process, and apparatus claims, in any patent Licensable by such - Contributor that would be infringed, but for the grant of the - License, by the making, using, selling, offering for sale, having - made, import, or transfer of either its Contributions or its - Contributor Version. - -1.12. "Secondary License" - means either the GNU General Public License, Version 2.0, the GNU - Lesser General Public License, Version 2.1, the GNU Affero General - Public License, Version 3.0, or any later versions of those - licenses. - -1.13. "Source Code Form" - means the form of the work preferred for making modifications. - -1.14. "You" (or "Your") - means an individual or a legal entity exercising rights under this - License. For legal entities, "You" includes any entity that - controls, is controlled by, or is under common control with You. For - purposes of this definition, "control" means (a) the power, direct - or indirect, to cause the direction or management of such entity, - whether by contract or otherwise, or (b) ownership of more than - fifty percent (50%) of the outstanding shares or beneficial - ownership of such entity. - -2. License Grants and Conditions --------------------------------- - -2.1. Grants - -Each Contributor hereby grants You a world-wide, royalty-free, -non-exclusive license: - -(a) under intellectual property rights (other than patent or trademark) - Licensable by such Contributor to use, reproduce, make available, - modify, display, perform, distribute, and otherwise exploit its - Contributions, either on an unmodified basis, with Modifications, or - as part of a Larger Work; and - -(b) under Patent Claims of such Contributor to make, use, sell, offer - for sale, have made, import, and otherwise transfer either its - Contributions or its Contributor Version. - -2.2. Effective Date - -The licenses granted in Section 2.1 with respect to any Contribution -become effective for each Contribution on the date the Contributor first -distributes such Contribution. - -2.3. Limitations on Grant Scope - -The licenses granted in this Section 2 are the only rights granted under -this License. No additional rights or licenses will be implied from the -distribution or licensing of Covered Software under this License. -Notwithstanding Section 2.1(b) above, no patent license is granted by a -Contributor: - -(a) for any code that a Contributor has removed from Covered Software; - or - -(b) for infringements caused by: (i) Your and any other third party's - modifications of Covered Software, or (ii) the combination of its - Contributions with other software (except as part of its Contributor - Version); or - -(c) under Patent Claims infringed by Covered Software in the absence of - its Contributions. - -This License does not grant any rights in the trademarks, service marks, -or logos of any Contributor (except as may be necessary to comply with -the notice requirements in Section 3.4). - -2.4. Subsequent Licenses - -No Contributor makes additional grants as a result of Your choice to -distribute the Covered Software under a subsequent version of this -License (see Section 10.2) or under the terms of a Secondary License (if -permitted under the terms of Section 3.3). - -2.5. Representation - -Each Contributor represents that the Contributor believes its -Contributions are its original creation(s) or it has sufficient rights -to grant the rights to its Contributions conveyed by this License. - -2.6. Fair Use - -This License is not intended to limit any rights You have under -applicable copyright doctrines of fair use, fair dealing, or other -equivalents. - -2.7. Conditions - -Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted -in Section 2.1. - -3. Responsibilities -------------------- - -3.1. Distribution of Source Form - -All distribution of Covered Software in Source Code Form, including any -Modifications that You create or to which You contribute, must be under -the terms of this License. You must inform recipients that the Source -Code Form of the Covered Software is governed by the terms of this -License, and how they can obtain a copy of this License. You may not -attempt to alter or restrict the recipients' rights in the Source Code -Form. - -3.2. Distribution of Executable Form - -If You distribute Covered Software in Executable Form then: - -(a) such Covered Software must also be made available in Source Code - Form, as described in Section 3.1, and You must inform recipients of - the Executable Form how they can obtain a copy of such Source Code - Form by reasonable means in a timely manner, at a charge no more - than the cost of distribution to the recipient; and - -(b) You may distribute such Executable Form under the terms of this - License, or sublicense it under different terms, provided that the - license for the Executable Form does not attempt to limit or alter - the recipients' rights in the Source Code Form under this License. - -3.3. Distribution of a Larger Work - -You may create and distribute a Larger Work under terms of Your choice, -provided that You also comply with the requirements of this License for -the Covered Software. If the Larger Work is a combination of Covered -Software with a work governed by one or more Secondary Licenses, and the -Covered Software is not Incompatible With Secondary Licenses, this -License permits You to additionally distribute such Covered Software -under the terms of such Secondary License(s), so that the recipient of -the Larger Work may, at their option, further distribute the Covered -Software under the terms of either this License or such Secondary -License(s). - -3.4. Notices - -You may not remove or alter the substance of any license notices -(including copyright notices, patent notices, disclaimers of warranty, -or limitations of liability) contained within the Source Code Form of -the Covered Software, except that You may alter any license notices to -the extent required to remedy known factual inaccuracies. - -3.5. Application of Additional Terms - -You may choose to offer, and to charge a fee for, warranty, support, -indemnity or liability obligations to one or more recipients of Covered -Software. However, You may do so only on Your own behalf, and not on -behalf of any Contributor. You must make it absolutely clear that any -such warranty, support, indemnity, or liability obligation is offered by -You alone, and You hereby agree to indemnify every Contributor for any -liability incurred by such Contributor as a result of warranty, support, -indemnity or liability terms You offer. You may include additional -disclaimers of warranty and limitations of liability specific to any -jurisdiction. - -4. Inability to Comply Due to Statute or Regulation ---------------------------------------------------- - -If it is impossible for You to comply with any of the terms of this -License with respect to some or all of the Covered Software due to -statute, judicial order, or regulation then You must: (a) comply with -the terms of this License to the maximum extent possible; and (b) -describe the limitations and the code they affect. Such description must -be placed in a text file included with all distributions of the Covered -Software under this License. Except to the extent prohibited by statute -or regulation, such description must be sufficiently detailed for a -recipient of ordinary skill to be able to understand it. - -5. Termination --------------- - -5.1. The rights granted under this License will terminate automatically -if You fail to comply with any of its terms. However, if You become -compliant, then the rights granted under this License from a particular -Contributor are reinstated (a) provisionally, unless and until such -Contributor explicitly and finally terminates Your grants, and (b) on an -ongoing basis, if such Contributor fails to notify You of the -non-compliance by some reasonable means prior to 60 days after You have -come back into compliance. Moreover, Your grants from a particular -Contributor are reinstated on an ongoing basis if such Contributor -notifies You of the non-compliance by some reasonable means, this is the -first time You have received notice of non-compliance with this License -from such Contributor, and You become compliant prior to 30 days after -Your receipt of the notice. - -5.2. If You initiate litigation against any entity by asserting a patent -infringement claim (excluding declaratory judgment actions, -counter-claims, and cross-claims) alleging that a Contributor Version -directly or indirectly infringes any patent, then the rights granted to -You by any and all Contributors for the Covered Software under Section -2.1 of this License shall terminate. - -5.3. In the event of termination under Sections 5.1 or 5.2 above, all -end user license agreements (excluding distributors and resellers) which -have been validly granted by You or Your distributors under this License -prior to termination shall survive termination. - -************************************************************************ -* * -* 6. Disclaimer of Warranty * -* ------------------------- * -* * -* Covered Software is provided under this License on an "as is" * -* basis, without warranty of any kind, either expressed, implied, or * -* statutory, including, without limitation, warranties that the * -* Covered Software is free of defects, merchantable, fit for a * -* particular purpose or non-infringing. The entire risk as to the * -* quality and performance of the Covered Software is with You. * -* Should any Covered Software prove defective in any respect, You * -* (not any Contributor) assume the cost of any necessary servicing, * -* repair, or correction. This disclaimer of warranty constitutes an * -* essential part of this License. No use of any Covered Software is * -* authorized under this License except under this disclaimer. * -* * -************************************************************************ - -************************************************************************ -* * -* 7. Limitation of Liability * -* -------------------------- * -* * -* Under no circumstances and under no legal theory, whether tort * -* (including negligence), contract, or otherwise, shall any * -* Contributor, or anyone who distributes Covered Software as * -* permitted above, be liable to You for any direct, indirect, * -* special, incidental, or consequential damages of any character * -* including, without limitation, damages for lost profits, loss of * -* goodwill, work stoppage, computer failure or malfunction, or any * -* and all other commercial damages or losses, even if such party * -* shall have been informed of the possibility of such damages. This * -* limitation of liability shall not apply to liability for death or * -* personal injury resulting from such party's negligence to the * -* extent applicable law prohibits such limitation. Some * -* jurisdictions do not allow the exclusion or limitation of * -* incidental or consequential damages, so this exclusion and * -* limitation may not apply to You. * -* * -************************************************************************ - -8. Litigation -------------- - -Any litigation relating to this License may be brought only in the -courts of a jurisdiction where the defendant maintains its principal -place of business and such litigation shall be governed by laws of that -jurisdiction, without reference to its conflict-of-law provisions. -Nothing in this Section shall prevent a party's ability to bring -cross-claims or counter-claims. - -9. Miscellaneous ----------------- - -This License represents the complete agreement concerning the subject -matter hereof. If any provision of this License is held to be -unenforceable, such provision shall be reformed only to the extent -necessary to make it enforceable. Any law or regulation which provides -that the language of a contract shall be construed against the drafter -shall not be used to construe this License against a Contributor. - -10. Versions of the License ---------------------------- - -10.1. New Versions - -Mozilla Foundation is the license steward. Except as provided in Section -10.3, no one other than the license steward has the right to modify or -publish new versions of this License. Each version will be given a -distinguishing version number. - -10.2. Effect of New Versions - -You may distribute the Covered Software under the terms of the version -of the License under which You originally received the Covered Software, -or under the terms of any subsequent version published by the license -steward. - -10.3. Modified Versions - -If you create software not governed by this License, and you want to -create a new license for such software, you may create and use a -modified version of this License if you rename the license and remove -any references to the name of the license steward (except to note that -such modified license differs from this License). - -10.4. Distributing Source Code Form that is Incompatible With Secondary -Licenses - -If You choose to distribute Source Code Form that is Incompatible With -Secondary Licenses under the terms of this version of the License, the -notice described in Exhibit B of this License must be attached. - -Exhibit A - Source Code Form License Notice -------------------------------------------- - - This Source Code Form is subject to the terms of the Mozilla Public - License, v. 2.0. If a copy of the MPL was not distributed with this - file, You can obtain one at http://mozilla.org/MPL/2.0/. - -If it is not possible or desirable to put the notice in a particular -file, then You may include the notice in a location (such as a LICENSE -file in a relevant directory) where a recipient would be likely to look -for such a notice. - -You may add additional accurate notices of copyright ownership. - -Exhibit B - "Incompatible With Secondary Licenses" Notice ---------------------------------------------------------- - - This Source Code Form is "Incompatible With Secondary Licenses", as - defined by the Mozilla Public License, v. 2.0. -================================================================================ - -Curl -================================================================================ -Copyright (c) 1996 - 2014, Daniel Stenberg, . - -All rights reserved. - -Permission to use, copy, modify, and distribute this software for any purpose -with or without fee is hereby granted, provided that the above copyright -notice and this permission notice appear in all copies. - -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 OF THIRD PARTY RIGHTS. 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. - -Except as contained in this notice, the name of a copyright holder shall not -be used in advertising or otherwise to promote the sale, use or other dealings -in this Software without prior written authorization of the copyright holder. -================================================================================ - -Jansson -================================================================================ -Copyright (c) 2009-2014 Petri Lehtinen - -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. -================================================================================ - -JSON-Glib -================================================================================ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. It also counts - as the successor of the GNU Library Public License, version 2, hence - the version number 2.1.] - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. By contrast, the GNU General Public -Licenses are intended to guarantee your freedom to share and change -free software--to make sure the software is free for all its users. - - This license, the Lesser General Public License, applies to some -specially designated software packages--typically libraries--of the -Free Software Foundation and other authors who decide to use it. You -can use it too, but we suggest you first think carefully about whether -this license or the ordinary General Public License is the better -strategy to use in any particular case, based on the explanations below. - - When we speak of free software, we are referring to freedom of use, -not price. Our General Public Licenses are designed to make sure that -you have the freedom to distribute copies of free software (and charge -for this service if you wish); that you receive source code or can get -it if you want it; that you can change the software and use pieces of -it in new free programs; and that you are informed that you can do -these things. - - To protect your rights, we need to make restrictions that forbid -distributors to deny you these rights or to ask you to surrender these -rights. These restrictions translate to certain responsibilities for -you if you distribute copies of the library or if you modify it. - - For example, if you distribute copies of the library, whether gratis -or for a fee, you must give the recipients all the rights that we gave -you. You must make sure that they, too, receive or can get the source -code. 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See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License along - with this program; if not, write to the Free Software Foundation, Inc., - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. - -Also add information on how to contact you by electronic and paper mail. - -If the program is interactive, make it output a short notice like this -when it starts in an interactive mode: - - Gnomovision version 69, Copyright (C) year name of author - Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, the commands you use may -be called something other than `show w' and `show c'; they could even be -mouse-clicks or menu items--whatever suits your program. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the program, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the program - `Gnomovision' (which makes passes at compilers) written by James Hacker. - - , 1 April 1989 - Ty Coon, President of Vice - -This General Public License does not permit incorporating your program into -proprietary programs. If your program is a subroutine library, you may -consider it more useful to permit linking proprietary applications with the -library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. ----------------- END OF Gnu General Public License ---------------- - -The source code of Threading Building Blocks is distributed under version 2 -of the GNU General Public License, with the so-called "runtime exception," -as follows (or see any header or implementation file): - - As a special exception, you may use this file as part of a free software - library without restriction. Specifically, if other files instantiate - templates or use macros or inline functions from this file, or you compile - this file and link it with other files to produce an executable, this - file does not by itself cause the resulting executable to be covered by - the GNU General Public License. This exception does not however - invalidate any other reasons why the executable file might be covered by - the GNU General Public License. -================================================================================ diff --git a/isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LicenseAgreement.pdf b/isaac_ros_triton/gxf/lib/gxf_jetpack50/triton/LicenseAgreement.pdf deleted file mode 100644 index ad3e7533aa905ec73437dd9e88adf4dddd5a8a24..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 131 zcmWN?K@!3s3;@7;U%>|~2?h%N4FnKoR62(C;OliSdzFv$@m6ilLw2nnecql`*8lBH zE033!qp-ek89gg$(O9?VXrMq1(NSX9ya&VJA~3s@IiL@Y40vXX*;0*nrY&FwThVj! 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All rights reserved. - * - * 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. - * -*/ - -/* libnvds_kafka_proto.so uses librdkafka.so which is provided under the - * following terms: -################################################################################ -# librdkafka - Apache Kafka C driver library -# -# Copyright (c) 2012-2018, Magnus Edenhill -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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. 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Permission is hereby granted to use, copy, -modify, sell, and otherwise distribute this software and its -documentation for any purpose and without fee, provided that: - -1. This copyright, permission, and disclaimer notice is reproduced in - all copies of this software and any modification thereof and in - supporting documentation; -2. Any color-handling application which displays TekHVC color - cooordinates identifies these as TekHVC color coordinates in any - interface that displays these coordinates and in any associated - documentation; -3. The term "TekHVC" is always used, and is only used, in association - with the mathematical derivations of the TekHVC Color Space, - including those provided in this file and any equivalent pathways and - mathematical derivations, regardless of digital (e.g., floating point - or integer) representation. - -Tektronix makes no representation about the suitability of this software -for any purpose. 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Wexelblat. All rights reserved - -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 DAVID E. WEXELBLAT 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. - -Except as contained in this notice, the name of David E. Wexelblat shall -not be used in advertising or otherwise to promote the sale, use or -other dealings in this Software without prior written authorization -from David E. Wexelblat. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name OMRON not be used in -advertising or publicity pertaining to distribution of the software without -specific, written prior permission. OMRON makes no representations -about the suitability of this software for any purpose. It is provided -"as is" without express or implied warranty. - -OMRON DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL OMRON BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTUOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1985, 1986, 1987, 1988, 1989, 1990, 1991 by -Digital Equipment Corporation - -Portions Copyright 1990, 1991 by Tektronix, Inc - -Rewritten for X.org by Chris Lee - -Permission to use, copy, modify, distribute, and sell this documentation -for any purpose and without fee is hereby granted, provided that the above -copyright notice and this permission notice appear in all copies. -Chris Lee makes no representations about the suitability for any purpose -of the information in this document. It is provided \`\`as-is'' without -express or implied warranty. - - ---------------------------------------- - -Copyright 1993 by Digital Equipment Corporation, Maynard, Massachusetts, -Copyright 1994 by FUJITSU LIMITED -Copyright 1994 by Sony Corporation - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the names of Digital, FUJITSU -LIMITED and Sony Corporation not be used in advertising or publicity -pertaining to distribution of the software without specific, written -prior permission. - -DIGITAL, FUJITSU LIMITED AND SONY CORPORATION DISCLAIMS ALL WARRANTIES -WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL DIGITAL, FUJITSU LIMITED -AND SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - - -Copyright 1991 by the Open Software Foundation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of Open Software Foundation -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Open Software -Foundation makes no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OPEN SOFTWARE FOUNDATION DISCLAIMS ALL WARRANTIES WITH REGARD TO -THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL OPEN SOFTWARE FOUNDATIONN BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1990, 1991, 1992,1993, 1994 by FUJITSU LIMITED -Copyright 1993, 1994 by Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software and -its documentation for any purpose is hereby granted without fee, provided -that the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of FUJITSU LIMITED and Sony Corporation -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. FUJITSU LIMITED and -Sony Corporation makes no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -FUJITSU LIMITED AND SONY CORPORATION DISCLAIMS ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL FUJITSU LIMITED OR SONY CORPORATION BE LIABLE -FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER -RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, -NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE -USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright (c) 1993, 1995 by Silicon Graphics Computer Systems, Inc. - -Permission to use, copy, modify, and distribute this -software and its documentation for any purpose and without -fee is hereby granted, provided that the above copyright -notice appear in all copies and that both that copyright -notice and this permission notice appear in supporting -documentation, and that the name of Silicon Graphics not be -used in advertising or publicity pertaining to distribution -of the software without specific prior written permission. -Silicon Graphics makes no representation about the suitability -of this software for any purpose. It is provided "as is" -without any express or implied warranty. - -SILICON GRAPHICS DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS -SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON -GRAPHICS BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL -DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH -THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1991, 1992, 1993, 1994 by FUJITSU LIMITED -Copyright 1993 by Digital Equipment Corporation - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of FUJITSU LIMITED and -Digital Equipment Corporation not be used in advertising or publicity -pertaining to distribution of the software without specific, written -prior permission. FUJITSU LIMITED and Digital Equipment Corporation -makes no representations about the suitability of this software for -any purpose. It is provided "as is" without express or implied -warranty. - -FUJITSU LIMITED AND DIGITAL EQUIPMENT CORPORATION DISCLAIM ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -FUJITSU LIMITED AND DIGITAL EQUIPMENT CORPORATION BE LIABLE FOR -ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER -IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF -THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1992, 1993 by FUJITSU LIMITED -Copyright 1993 by Fujitsu Open Systems Solutions, Inc. -Copyright 1994 by Sony Corporation - -Permission to use, copy, modify, distribute and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of FUJITSU LIMITED, -Fujitsu Open Systems Solutions, Inc. and Sony Corporation not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. -FUJITSU LIMITED, Fujitsu Open Systems Solutions, Inc. and -Sony Corporation make no representations about the suitability of -this software for any purpose. It is provided "as is" without -express or implied warranty. - -FUJITSU LIMITED, FUJITSU OPEN SYSTEMS SOLUTIONS, INC. AND SONY -CORPORATION DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, -IN NO EVENT SHALL FUJITSU OPEN SYSTEMS SOLUTIONS, INC., FUJITSU LIMITED -AND SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS -OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE -OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1987, 1988, 1990, 1993 by Digital Equipment Corporation, -Maynard, Massachusetts, - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of Digital not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -DIGITAL DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - -Copyright 1993 by SunSoft, Inc. -Copyright 1999-2000 by Bruno Haible - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the names of SunSoft, Inc. and -Bruno Haible not be used in advertising or publicity pertaining to -distribution of the software without specific, written prior -permission. SunSoft, Inc. and Bruno Haible make no representations -about the suitability of this software for any purpose. It is -provided "as is" without express or implied warranty. - -SunSoft Inc. AND Bruno Haible DISCLAIM ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS, IN NO EVENT SHALL SunSoft, Inc. OR Bruno Haible BE LIABLE -FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT -OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the TOSHIBA Corp. - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of Open Software Foundation and TOSHIBA -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Open Software -Foundation and TOSHIBA make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OPEN SOFTWARE FOUNDATION AND TOSHIBA DISCLAIM ALL WARRANTIES WITH REGARD TO -THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS, IN NO EVENT SHALL OPEN SOFTWARE FOUNDATIONN OR TOSHIBA BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1988 by Wyse Technology, Inc., San Jose, Ca., - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name Wyse not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -WYSE DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - - -Copyright 1991 by the Open Software Foundation -Copyright 1993, 1994 by the Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of Open Software Foundation and -Sony Corporation not be used in advertising or publicity pertaining to -distribution of the software without specific, written prior permission. -Open Software Foundation and Sony Corporation make no -representations about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -OPEN SOFTWARE FOUNDATION AND SONY CORPORATION DISCLAIM ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL OPEN -SOFTWARE FOUNDATIONN OR SONY CORPORATION BE LIABLE FOR ANY SPECIAL, -INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM -LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1992, 1993 by FUJITSU LIMITED -Copyright 1993 by Fujitsu Open Systems Solutions, Inc. - -Permission to use, copy, modify, distribute and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of FUJITSU LIMITED and -Fujitsu Open Systems Solutions, Inc. not be used in advertising or -publicity pertaining to distribution of the software without specific, -written prior permission. -FUJITSU LIMITED and Fujitsu Open Systems Solutions, Inc. makes no -representations about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -FUJITSU LIMITED AND FUJITSU OPEN SYSTEMS SOLUTIONS, INC. DISCLAIMS ALL -WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES -OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL FUJITSU OPEN SYSTEMS -SOLUTIONS, INC. AND FUJITSU LIMITED BE LIABLE FOR ANY SPECIAL, INDIRECT -OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE -OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1993, 1994 by Sony Corporation - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Sony Corporation -not be used in advertising or publicity pertaining to distribution -of the software without specific, written prior permission. -Sony Corporation makes no representations about the suitability of -this software for any purpose. It is provided "as is" without -express or implied warranty. - -SONY CORPORATION DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL SONY CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1986, 1998 The Open Group -Copyright (c) 2000 The XFree86 Project, Inc. - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation. - -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 -X CONSORTIUM OR THE XFREE86 PROJECT 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. - -Except as contained in this notice, the name of the X Consortium or of the -XFree86 Project shall not be used in advertising or otherwise to promote the -sale, use or other dealings in this Software without prior written -authorization from the X Consortium and the XFree86 Project. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, NTT, and -Open Software Foundation not be used in advertising or publicity -pertaining to distribution of the software without specific, -written prior permission. OMRON, NTT Software, NTT, and Open Software -Foundation make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OMRON, NTT SOFTWARE, NTT, AND OPEN SOFTWARE FOUNDATION -DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT -SHALL OMRON, NTT SOFTWARE, NTT, OR OPEN SOFTWARE FOUNDATION BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 1988 by Wyse Technology, Inc., San Jose, Ca, -Copyright 1987 by Digital Equipment Corporation, Maynard, Massachusetts, - - All Rights Reserved - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name Digital not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -DIGITAL AND WYSE DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL DIGITAL OR WYSE BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF -USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR -OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - - -Copyright 1991, 1992 by Fuji Xerox Co., Ltd. -Copyright 1992, 1993, 1994 by FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Fuji Xerox, -FUJITSU LIMITED not be used in advertising or publicity pertaining -to distribution of the software without specific, written prior -permission. Fuji Xerox, FUJITSU LIMITED make no representations -about the suitability of this software for any purpose. -It is provided "as is" without express or implied warranty. - -FUJI XEROX, FUJITSU LIMITED DISCLAIM ALL WARRANTIES WITH -REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL FUJI XEROX, -FUJITSU LIMITED BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL -DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA -OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 2006 Josh Triplett - -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 X CONSORTIUM 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. - - ---------------------------------------- - -(c) Copyright 1996 by Sebastien Marineau and Holger Veit - - - -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 -HOLGER VEIT 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. - -Except as contained in this notice, the name of Sebastien Marineau or Holger Veit -shall not be used in advertising or otherwise to promote the sale, use or other -dealings in this Software without prior written authorization from Holger Veit or -Sebastien Marineau. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation -Copyright 1991 by the Open Software Foundation -Copyright 1993 by the TOSHIBA Corp. -Copyright 1993, 1994 by Sony Corporation -Copyright 1993, 1994 by the FUJITSU LIMITED - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, NTT, Open -Software Foundation, and Sony Corporation not be used in advertising -or publicity pertaining to distribution of the software without specific, -written prior permission. OMRON, NTT Software, NTT, Open Software -Foundation, and Sony Corporation make no representations about the -suitability of this software for any purpose. It is provided "as is" -without express or implied warranty. - -OMRON, NTT SOFTWARE, NTT, OPEN SOFTWARE FOUNDATION, AND SONY -CORPORATION DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT -SHALL OMRON, NTT SOFTWARE, NTT, OPEN SOFTWARE FOUNDATION, OR SONY -CORPORATION BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER -IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT -OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright 2000 by Bruno Haible - -Permission to use, copy, modify, distribute, and sell this software -and its documentation for any purpose is hereby granted without fee, -provided that the above copyright notice appear in all copies and -that both that copyright notice and this permission notice appear -in supporting documentation, and that the name of Bruno Haible not -be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. Bruno Haible -makes no representations about the suitability of this software for -any purpose. It is provided "as is" without express or implied -warranty. - -Bruno Haible DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN -NO EVENT SHALL Bruno Haible BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS -OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE -OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE -OR PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright © 2003 Keith Packard - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of Keith Packard not be used in -advertising or publicity pertaining to distribution of the software without -specific, written prior permission. Keith Packard makes no -representations about the suitability of this software for any purpose. It -is provided "as is" without express or implied warranty. - -KEITH PACKARD DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, -INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO -EVENT SHALL KEITH PACKARD BE LIABLE FOR ANY SPECIAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, -DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER -TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR -PERFORMANCE OF THIS SOFTWARE. - - ---------------------------------------- - -Copyright (c) 2007-2009, Troy D. Hanson -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 -OR CONTRIBUTORS 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. - - ---------------------------------------- - -Copyright 1992, 1993 by TOSHIBA Corp. - -Permission to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, provided -that the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the name of TOSHIBA not be used in advertising -or publicity pertaining to distribution of the software without specific, -written prior permission. TOSHIBA make no representations about the -suitability of this software for any purpose. It is provided "as is" -without express or implied warranty. - -TOSHIBA DISCLAIM ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL -TOSHIBA BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - - ---------------------------------------- - -Copyright IBM Corporation 1993 - -All Rights Reserved - -License to use, copy, modify, and distribute this software and its -documentation for any purpose and without fee is hereby granted, -provided that the above copyright notice appear in all copies and that -both that copyright notice and this permission notice appear in -supporting documentation, and that the name of IBM not be -used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. - -IBM DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING -ALL IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS, AND -NONINFRINGEMENT OF THIRD PARTY RIGHTS, IN NO EVENT SHALL -IBM BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR -ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -SOFTWARE. - - ---------------------------------------- - -Copyright 1990, 1991 by OMRON Corporation, NTT Software Corporation, - and Nippon Telegraph and Telephone Corporation - -Permission to use, copy, modify, distribute, and sell this software and its -documentation for any purpose is hereby granted without fee, provided that -the above copyright notice appear in all copies and that both that -copyright notice and this permission notice appear in supporting -documentation, and that the names of OMRON, NTT Software, and NTT -not be used in advertising or publicity pertaining to distribution of the -software without specific, written prior permission. OMRON, NTT Software, -and NTT make no representations about the suitability of this -software for any purpose. It is provided "as is" without express or -implied warranty. - -OMRON, NTT SOFTWARE, AND NTT, DISCLAIM ALL WARRANTIES WITH REGARD -TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS, IN NO EVENT SHALL OMRON, NTT SOFTWARE, OR NTT, BE -LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES -WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN -ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF -OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. -================================================================================ - -Eigen -================================================================================ -Mozilla Public License Version 2.0 -================================== - -1. Definitions --------------- - -1.1. "Contributor" - means each individual or legal entity that creates, contributes to - the creation of, or owns Covered Software. - -1.2. "Contributor Version" - means the combination of the Contributions of others (if any) used - by a Contributor and that particular Contributor's Contribution. - -1.3. "Contribution" - means Covered Software of a particular Contributor. - -1.4. "Covered Software" - means Source Code Form to which the initial Contributor has attached - the notice in Exhibit A, the Executable Form of such Source Code - Form, and Modifications of such Source Code Form, in each case - including portions thereof. - -1.5. "Incompatible With Secondary Licenses" - means - - (a) that the initial Contributor has attached the notice described - in Exhibit B to the Covered Software; or - - (b) that the Covered Software was made available under the terms of - version 1.1 or earlier of the License, but not also under the - terms of a Secondary License. - -1.6. "Executable Form" - means any form of the work other than Source Code Form. - -1.7. "Larger Work" - means a work that combines Covered Software with other material, in - a separate file or files, that is not Covered Software. - -1.8. "License" - means this document. - -1.9. "Licensable" - means having the right to grant, to the maximum extent possible, - whether at the time of the initial grant or subsequently, any and - all of the rights conveyed by this License. - -1.10. "Modifications" - means any of the following: - - (a) any file in Source Code Form that results from an addition to, - deletion from, or modification of the contents of Covered - Software; or - - (b) any new file in Source Code Form that contains any Covered - Software. - -1.11. "Patent Claims" of a Contributor - means any patent claim(s), including without limitation, method, - process, and apparatus claims, in any patent Licensable by such - Contributor that would be infringed, but for the grant of the - License, by the making, using, selling, offering for sale, having - made, import, or transfer of either its Contributions or its - Contributor Version. - -1.12. "Secondary License" - means either the GNU General Public License, Version 2.0, the GNU - Lesser General Public License, Version 2.1, the GNU Affero General - Public License, Version 3.0, or any later versions of those - licenses. - -1.13. "Source Code Form" - means the form of the work preferred for making modifications. - -1.14. "You" (or "Your") - means an individual or a legal entity exercising rights under this - License. For legal entities, "You" includes any entity that - controls, is controlled by, or is under common control with You. For - purposes of this definition, "control" means (a) the power, direct - or indirect, to cause the direction or management of such entity, - whether by contract or otherwise, or (b) ownership of more than - fifty percent (50%) of the outstanding shares or beneficial - ownership of such entity. - -2. License Grants and Conditions --------------------------------- - -2.1. Grants - -Each Contributor hereby grants You a world-wide, royalty-free, -non-exclusive license: - -(a) under intellectual property rights (other than patent or trademark) - Licensable by such Contributor to use, reproduce, make available, - modify, display, perform, distribute, and otherwise exploit its - Contributions, either on an unmodified basis, with Modifications, or - as part of a Larger Work; and - -(b) under Patent Claims of such Contributor to make, use, sell, offer - for sale, have made, import, and otherwise transfer either its - Contributions or its Contributor Version. - -2.2. Effective Date - -The licenses granted in Section 2.1 with respect to any Contribution -become effective for each Contribution on the date the Contributor first -distributes such Contribution. - -2.3. Limitations on Grant Scope - -The licenses granted in this Section 2 are the only rights granted under -this License. No additional rights or licenses will be implied from the -distribution or licensing of Covered Software under this License. -Notwithstanding Section 2.1(b) above, no patent license is granted by a -Contributor: - -(a) for any code that a Contributor has removed from Covered Software; - or - -(b) for infringements caused by: (i) Your and any other third party's - modifications of Covered Software, or (ii) the combination of its - Contributions with other software (except as part of its Contributor - Version); or - -(c) under Patent Claims infringed by Covered Software in the absence of - its Contributions. - -This License does not grant any rights in the trademarks, service marks, -or logos of any Contributor (except as may be necessary to comply with -the notice requirements in Section 3.4). - -2.4. Subsequent Licenses - -No Contributor makes additional grants as a result of Your choice to -distribute the Covered Software under a subsequent version of this -License (see Section 10.2) or under the terms of a Secondary License (if -permitted under the terms of Section 3.3). - -2.5. Representation - -Each Contributor represents that the Contributor believes its -Contributions are its original creation(s) or it has sufficient rights -to grant the rights to its Contributions conveyed by this License. - -2.6. Fair Use - -This License is not intended to limit any rights You have under -applicable copyright doctrines of fair use, fair dealing, or other -equivalents. - -2.7. Conditions - -Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted -in Section 2.1. - -3. Responsibilities -------------------- - -3.1. Distribution of Source Form - -All distribution of Covered Software in Source Code Form, including any -Modifications that You create or to which You contribute, must be under -the terms of this License. You must inform recipients that the Source -Code Form of the Covered Software is governed by the terms of this -License, and how they can obtain a copy of this License. You may not -attempt to alter or restrict the recipients' rights in the Source Code -Form. - -3.2. Distribution of Executable Form - -If You distribute Covered Software in Executable Form then: - -(a) such Covered Software must also be made available in Source Code - Form, as described in Section 3.1, and You must inform recipients of - the Executable Form how they can obtain a copy of such Source Code - Form by reasonable means in a timely manner, at a charge no more - than the cost of distribution to the recipient; and - -(b) You may distribute such Executable Form under the terms of this - License, or sublicense it under different terms, provided that the - license for the Executable Form does not attempt to limit or alter - the recipients' rights in the Source Code Form under this License. - -3.3. Distribution of a Larger Work - -You may create and distribute a Larger Work under terms of Your choice, -provided that You also comply with the requirements of this License for -the Covered Software. If the Larger Work is a combination of Covered -Software with a work governed by one or more Secondary Licenses, and the -Covered Software is not Incompatible With Secondary Licenses, this -License permits You to additionally distribute such Covered Software -under the terms of such Secondary License(s), so that the recipient of -the Larger Work may, at their option, further distribute the Covered -Software under the terms of either this License or such Secondary -License(s). - -3.4. Notices - -You may not remove or alter the substance of any license notices -(including copyright notices, patent notices, disclaimers of warranty, -or limitations of liability) contained within the Source Code Form of -the Covered Software, except that You may alter any license notices to -the extent required to remedy known factual inaccuracies. - -3.5. Application of Additional Terms - -You may choose to offer, and to charge a fee for, warranty, support, -indemnity or liability obligations to one or more recipients of Covered -Software. However, You may do so only on Your own behalf, and not on -behalf of any Contributor. You must make it absolutely clear that any -such warranty, support, indemnity, or liability obligation is offered by -You alone, and You hereby agree to indemnify every Contributor for any -liability incurred by such Contributor as a result of warranty, support, -indemnity or liability terms You offer. You may include additional -disclaimers of warranty and limitations of liability specific to any -jurisdiction. - -4. Inability to Comply Due to Statute or Regulation ---------------------------------------------------- - -If it is impossible for You to comply with any of the terms of this -License with respect to some or all of the Covered Software due to -statute, judicial order, or regulation then You must: (a) comply with -the terms of this License to the maximum extent possible; and (b) -describe the limitations and the code they affect. Such description must -be placed in a text file included with all distributions of the Covered -Software under this License. Except to the extent prohibited by statute -or regulation, such description must be sufficiently detailed for a -recipient of ordinary skill to be able to understand it. - -5. Termination --------------- - -5.1. The rights granted under this License will terminate automatically -if You fail to comply with any of its terms. However, if You become -compliant, then the rights granted under this License from a particular -Contributor are reinstated (a) provisionally, unless and until such -Contributor explicitly and finally terminates Your grants, and (b) on an -ongoing basis, if such Contributor fails to notify You of the -non-compliance by some reasonable means prior to 60 days after You have -come back into compliance. Moreover, Your grants from a particular -Contributor are reinstated on an ongoing basis if such Contributor -notifies You of the non-compliance by some reasonable means, this is the -first time You have received notice of non-compliance with this License -from such Contributor, and You become compliant prior to 30 days after -Your receipt of the notice. - -5.2. If You initiate litigation against any entity by asserting a patent -infringement claim (excluding declaratory judgment actions, -counter-claims, and cross-claims) alleging that a Contributor Version -directly or indirectly infringes any patent, then the rights granted to -You by any and all Contributors for the Covered Software under Section -2.1 of this License shall terminate. - -5.3. In the event of termination under Sections 5.1 or 5.2 above, all -end user license agreements (excluding distributors and resellers) which -have been validly granted by You or Your distributors under this License -prior to termination shall survive termination. - -************************************************************************ -* * -* 6. Disclaimer of Warranty * -* ------------------------- * -* * -* Covered Software is provided under this License on an "as is" * -* basis, without warranty of any kind, either expressed, implied, or * -* statutory, including, without limitation, warranties that the * -* Covered Software is free of defects, merchantable, fit for a * -* particular purpose or non-infringing. The entire risk as to the * -* quality and performance of the Covered Software is with You. * -* Should any Covered Software prove defective in any respect, You * -* (not any Contributor) assume the cost of any necessary servicing, * -* repair, or correction. This disclaimer of warranty constitutes an * -* essential part of this License. No use of any Covered Software is * -* authorized under this License except under this disclaimer. * -* * -************************************************************************ - -************************************************************************ -* * -* 7. Limitation of Liability * -* -------------------------- * -* * -* Under no circumstances and under no legal theory, whether tort * -* (including negligence), contract, or otherwise, shall any * -* Contributor, or anyone who distributes Covered Software as * -* permitted above, be liable to You for any direct, indirect, * -* special, incidental, or consequential damages of any character * -* including, without limitation, damages for lost profits, loss of * -* goodwill, work stoppage, computer failure or malfunction, or any * -* and all other commercial damages or losses, even if such party * -* shall have been informed of the possibility of such damages. This * -* limitation of liability shall not apply to liability for death or * -* personal injury resulting from such party's negligence to the * -* extent applicable law prohibits such limitation. Some * -* jurisdictions do not allow the exclusion or limitation of * -* incidental or consequential damages, so this exclusion and * -* limitation may not apply to You. * -* * -************************************************************************ - -8. Litigation -------------- - -Any litigation relating to this License may be brought only in the -courts of a jurisdiction where the defendant maintains its principal -place of business and such litigation shall be governed by laws of that -jurisdiction, without reference to its conflict-of-law provisions. -Nothing in this Section shall prevent a party's ability to bring -cross-claims or counter-claims. - -9. Miscellaneous ----------------- - -This License represents the complete agreement concerning the subject -matter hereof. If any provision of this License is held to be -unenforceable, such provision shall be reformed only to the extent -necessary to make it enforceable. Any law or regulation which provides -that the language of a contract shall be construed against the drafter -shall not be used to construe this License against a Contributor. - -10. Versions of the License ---------------------------- - -10.1. New Versions - -Mozilla Foundation is the license steward. Except as provided in Section -10.3, no one other than the license steward has the right to modify or -publish new versions of this License. Each version will be given a -distinguishing version number. - -10.2. Effect of New Versions - -You may distribute the Covered Software under the terms of the version -of the License under which You originally received the Covered Software, -or under the terms of any subsequent version published by the license -steward. - -10.3. Modified Versions - -If you create software not governed by this License, and you want to -create a new license for such software, you may create and use a -modified version of this License if you rename the license and remove -any references to the name of the license steward (except to note that -such modified license differs from this License). - -10.4. Distributing Source Code Form that is Incompatible With Secondary -Licenses - -If You choose to distribute Source Code Form that is Incompatible With -Secondary Licenses under the terms of this version of the License, the -notice described in Exhibit B of this License must be attached. - -Exhibit A - Source Code Form License Notice -------------------------------------------- - - This Source Code Form is subject to the terms of the Mozilla Public - License, v. 2.0. If a copy of the MPL was not distributed with this - file, You can obtain one at http://mozilla.org/MPL/2.0/. - -If it is not possible or desirable to put the notice in a particular -file, then You may include the notice in a location (such as a LICENSE -file in a relevant directory) where a recipient would be likely to look -for such a notice. - -You may add additional accurate notices of copyright ownership. - -Exhibit B - "Incompatible With Secondary Licenses" Notice ---------------------------------------------------------- - - This Source Code Form is "Incompatible With Secondary Licenses", as - defined by the Mozilla Public License, v. 2.0. -================================================================================ - -Curl -================================================================================ -Copyright (c) 1996 - 2014, Daniel Stenberg, . - -All rights reserved. - -Permission to use, copy, modify, and distribute this software for any purpose -with or without fee is hereby granted, provided that the above copyright -notice and this permission notice appear in all copies. - -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 OF THIRD PARTY RIGHTS. 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. - -Except as contained in this notice, the name of a copyright holder shall not -be used in advertising or otherwise to promote the sale, use or other dealings -in this Software without prior written authorization of the copyright holder. -================================================================================ - -Jansson -================================================================================ -Copyright (c) 2009-2014 Petri Lehtinen - -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. 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If this is what you want to do, use the GNU Lesser General -Public License instead of this License. ----------------- END OF Gnu General Public License ---------------- - -The source code of Threading Building Blocks is distributed under version 2 -of the GNU General Public License, with the so-called "runtime exception," -as follows (or see any header or implementation file): - - As a special exception, you may use this file as part of a free software - library without restriction. Specifically, if other files instantiate - templates or use macros or inline functions from this file, or you compile - this file and link it with other files to produce an executable, this - file does not by itself cause the resulting executable to be covered by - the GNU General Public License. This exception does not however - invalidate any other reasons why the executable file might be covered by - the GNU General Public License. -================================================================================ diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/LicenseAgreement.pdf b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/LicenseAgreement.pdf deleted file mode 100644 index ad3e7533aa905ec73437dd9e88adf4dddd5a8a24..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 131 zcmWN?K@!3s3;@7;U%>|~2?h%N4FnKoR62(C;OliSdzFv$@m6ilLw2nnecql`*8lBH zE033!qp-ek89gg$(O9?VXrMq1(NSX9ya&VJA~3s@IiL@Y40vXX*;0*nrY&FwThVj! NX_5Xd3W?Cb@&gq$C$0bh diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libgxf_triton_ext.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libgxf_triton_ext.so deleted file mode 100755 index 34dfab6..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libgxf_triton_ext.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6e6d12c62765a328e60999dfa328d275c295ffacef1df7f0a69bdde8ac466653 -size 3610768 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbuf_fdmap.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbuf_fdmap.so deleted file mode 100755 index a3ae564..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbuf_fdmap.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:942677348661d8adf25846bc0a40e16f7d4c3d3263de68639ae62882b4106bbe -size 18752 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurface.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurface.so deleted file mode 100755 index 8259788..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurface.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e389e6fff67092c298d5cc9e0bf4bfa2e402e8ba2b924df51fc957c2d01c820d -size 31168 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurftransform.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurftransform.so deleted file mode 100755 index ccbf185..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvbufsurftransform.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:676eb351b3db35361a70b950fe89b8e0f2ff4bf9346dff24f04ffda3a8da2df3 -size 71118312 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_infer_server.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_infer_server.so deleted file mode 100755 index c25c5f3..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_infer_server.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a4b14374f94126d91f1953981a953cb23488716adf4b591064d730b55c1b0f12 -size 12446840 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferlogger.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferlogger.so deleted file mode 100755 index cf82d64..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferlogger.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5cca4b2422b89300fa5cec4c3455214167309aa3ca5a0ca07b3e2f429bc72328 -size 22928 diff --git a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferutils.so b/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferutils.so deleted file mode 100755 index e062ea0..0000000 --- a/isaac_ros_triton/gxf/lib/gxf_x86_64/triton/libnvds_inferutils.so +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bd8bdfd5395dd6fb07bcf4b438758a9a939ebd228ce5b2d2d12767c67958b8ff -size 150552 diff --git a/isaac_ros_triton/include/isaac_ros_triton_node/triton_node.hpp b/isaac_ros_triton/include/isaac_ros_triton_node/triton_node.hpp index 98a5dcc..83f50da 100644 --- a/isaac_ros_triton/include/isaac_ros_triton_node/triton_node.hpp +++ b/isaac_ros_triton/include/isaac_ros_triton_node/triton_node.hpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #ifndef ISAAC_ROS_TRITON_NODE__TRITON_NODE_HPP_ #define ISAAC_ROS_TRITON_NODE__TRITON_NODE_HPP_ diff --git a/isaac_ros_triton/launch/isaac_ros_triton.launch.py b/isaac_ros_triton/launch/isaac_ros_triton.launch.py index 6aa34c5..4f00cc6 100644 --- a/isaac_ros_triton/launch/isaac_ros_triton.launch.py +++ b/isaac_ros_triton/launch/isaac_ros_triton.launch.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import launch from launch.actions import DeclareLaunchArgument diff --git a/isaac_ros_triton/package.xml b/isaac_ros_triton/package.xml index b219ec7..efa77fb 100644 --- a/isaac_ros_triton/package.xml +++ b/isaac_ros_triton/package.xml @@ -1,23 +1,31 @@ isaac_ros_triton - 0.11.0 + 0.20.0 DNN Inference support for Isaac ROS CY Chen - NVIDIA Isaac ROS Software License + Apache-2.0 https://developer.nvidia.com/isaac-ros-gems/ CY Chen Xutong Ren diff --git a/isaac_ros_triton/src/triton_node.cpp b/isaac_ros_triton/src/triton_node.cpp index 9f682c3..418b263 100644 --- a/isaac_ros_triton/src/triton_node.cpp +++ b/isaac_ros_triton/src/triton_node.cpp @@ -1,12 +1,19 @@ -/** - * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. - * - * NVIDIA CORPORATION and its licensors retain all intellectual property - * and proprietary rights in and to this software, related documentation - * and any modifications thereto. Any use, reproduction, disclosure or - * distribution of this software and related documentation without an express - * license agreement from NVIDIA CORPORATION is strictly prohibited. - */ +// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +// Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// SPDX-License-Identifier: Apache-2.0 #include "isaac_ros_triton_node/triton_node.hpp" @@ -46,7 +53,7 @@ const std::vector> EXTENSIONS = { {"isaac_ros_nitros", "gxf/std/libgxf_std.so"}, {"isaac_ros_nitros", "gxf/cuda/libgxf_cuda.so"}, {"isaac_ros_nitros", "gxf/serialization/libgxf_serialization.so"}, - {"isaac_ros_triton", "gxf/triton/libgxf_triton_ext.so"} + {"isaac_ros_nitros", "gxf/triton/libgxf_triton_ext.so"} }; const std::vector PRESET_EXTENSION_SPEC_NAMES = { "isaac_ros_triton", diff --git a/isaac_ros_triton/test/isaac_ros_triton_test_onnx.py b/isaac_ros_triton/test/isaac_ros_triton_test_onnx.py index 90739f2..3ba3273 100644 --- a/isaac_ros_triton/test/isaac_ros_triton_test_onnx.py +++ b/isaac_ros_triton/test/isaac_ros_triton_test_onnx.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import os import time diff --git a/isaac_ros_triton/test/isaac_ros_triton_test_tf.py b/isaac_ros_triton/test/isaac_ros_triton_test_tf.py index 0581514..69c0c2e 100644 --- a/isaac_ros_triton/test/isaac_ros_triton_test_tf.py +++ b/isaac_ros_triton/test/isaac_ros_triton_test_tf.py @@ -1,10 +1,19 @@ -# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved. +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES +# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # -# NVIDIA CORPORATION and its licensors retain all intellectual property -# and proprietary rights in and to this software, related documentation -# and any modifications thereto. Any use, reproduction, disclosure or -# distribution of this software and related documentation without an express -# license agreement from NVIDIA CORPORATION is strictly prohibited. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 import os import time