GTSAM is released under the simplified BSD license, reproduced in the file 
LICENSE.BSD in this directory.

GTSAM contains two third party libraries, with documentation of licensing and 
modifications as follows:

- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree 
ordering library
    - Included unmodified in gtsam/3rdparty/CCOLAMD and gtsam/3rdparty/UFconfig
    - http://www.cise.ufl.edu/research/sparse
    - Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
- Eigen 3.2:  General C++ matrix and linear algebra library
    - Modified with 3 patches that have been contributed back to the Eigen team:
        - http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
        - http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
        - http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization)
    - Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README 
    - Some code that is 3rd-party to Eigen is BSD and LGPL