LICENSE.txt

The following portions of the LIVOX’s Livox SDK (“Software” referred to in the terms below) are made available to you under the terms of the MIT License provided below.  

Livox-SDK
├── CMakeLists.txt
├── sample
│   ├── hub
│   │   ├── CMakeLists.txt
│   │   └── main.c
│   └── lidar
│       ├── CMakeLists.txt
│       └── main.c
└── sdk_core
    ├── CMakeLists.txt
    ├── include
    │   ├── comm
    │   │   ├── comm_port.h
    │   │   └── protocol.h
    │   ├── livox_def.h
    │   └── livox_sdk.h
    └── src
        ├── base
        │   ├── command_callback.h
        │   ├── io_loop.cpp
        │   ├── io_loop.h
        │   ├── io_thread.cpp
        │   ├── io_thread.h
        │   ├── logging.h
        │   ├── network_util.cpp
        │   ├── network_util.h
        │   ├── noncopyable.h
        │   ├── thread_base.cpp
        │   ├── thread_base.h
        │   ├── util.cpp
        │   └── util.h
        ├── comm
        │   ├── comm_port.cpp
        │   ├── sdk_protocol.cpp
        │   └── sdk_protocol.h
        ├── command_handler
        │   ├── command_channel.cpp
        │   ├── command_channel.h
        │   ├── command_handler.cpp
        │   ├── command_handler.h
        │   ├── command_impl.cpp
        │   ├── command_impl.h
        │   ├── hub_command_handler.cpp
        │   ├── hub_command_handler.h
        │   ├── lidar_command_handler.cpp
        │   └── lidar_command_handler.h
        ├── data_handler
        │   ├── data_handler.cpp
        │   ├── data_handler.h
        │   ├── hub_data_handler.cpp
        │   ├── hub_data_handler.h
        │   ├── lidar_data_handler.cpp
        │   └── lidar_data_handler.h
        ├── device_discovery.cpp
        ├── device_discovery.h
        ├── device_manager.cpp
        ├── device_manager.h
        └── livox_sdk.cpp


-------------------------------------------------------------
The MIT License (MIT)

Copyright (c) 2019 Livox. 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.
===============================================================
LIVOX’s Livox SDK uses unmodified libraries of Apache Portable Runtime Library (APR)(https://github.com/apache/apr), which is licensed under Apache license. A copy of the Apache license is provided below and is also available at https://raw.githubusercontent.com/apache/apr/trunk/LICENSE.

-------------------------------------------------------------
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APACHE PORTABLE RUNTIME SUBCOMPONENTS: 

The Apache Portable Runtime includes a number of subcomponents with
separate copyright notices and license terms. Your use of the source
code for these subcomponents is subject to the terms and conditions
of the following licenses. 

From strings/apr_fnmatch.c, include/apr_fnmatch.h, misc/unix/getopt.c,
file_io/unix/mktemp.c, strings/apr_strings.c:

/* 
 * Copyright (c) 1987, 1993, 1994
 *      The Regents of the University of California.  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.
 * 3. All advertising materials mentioning features or use of this software
 *    must display the following acknowledgement:
 *      This product includes software developed by the University of
 *      California, Berkeley and its contributors.
 * 4. Neither the name of the University 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 REGENTS 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 REGENTS 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.

From network_io/unix/inet_ntop.c, network_io/unix/inet_pton.c:

/* Copyright (c) 1996 by Internet Software Consortium.
 *
 * 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" AND INTERNET SOFTWARE CONSORTIUM DISCLAIMS
 * ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES
 * OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL INTERNET SOFTWARE
 * CONSORTIUM BE LIABLE FOR ANY SPECIAL, DIRECT, 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.

From dso/aix/dso.c:

 *  Based on libdl (dlfcn.c/dlfcn.h) which is
 *  Copyright (c) 1992,1993,1995,1996,1997,1988
 *  Jens-Uwe Mager, Helios Software GmbH, Hannover, Germany.
 *
 *  Not derived from licensed software.
 *
 *  Permission is granted to freely use, copy, modify, and redistribute
 *  this software, provided that the author is not construed to be liable
 *  for any results of using the software, alterations are clearly marked
 *  as such, and this notice is not modified.

From strings/apr_strnatcmp.c, include/apr_strings.h:

  strnatcmp.c -- Perform 'natural order' comparisons of strings in C.
  Copyright (C) 2000 by Martin Pool <mbp@humbug.org.au>

  This software is provided 'as-is', without any express or implied
  warranty.  In no event will the authors be held liable for any damages
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  Permission is granted to anyone to use this software for any purpose,
  including commercial applications, and to alter it and redistribute it
  freely, subject to the following restrictions:

  1. The origin of this software must not be misrepresented; you must not
     claim that you wrote the original software. If you use this software
     in a product, an acknowledgment in the product documentation would be
     appreciated but is not required.
  2. Altered source versions must be plainly marked as such, and must not be
     misrepresented as being the original software.
  3. This notice may not be removed or altered from any source distribution.

From strings/apr_snprintf.c:

  *
  * cvt - IEEE floating point formatting routines.
  *       Derived from UNIX V7, Copyright(C) Caldera International Inc.
  *

  Copyright(C) Caldera International Inc.  2001-2002.  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 and documentation 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.

  All advertising materials mentioning features or use of this software
  must display the following acknowledgement:

     This product includes software developed or owned by  Caldera
     International, Inc.

  Neither the name of Caldera International, Inc. nor the names of other
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.

  USE OF THE SOFTWARE PROVIDED FOR UNDER THIS LICENSE BY CALDERA
  INTERNATIONAL, INC. 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 CALDERA INTERNATIONAL, INC. BE LIABLE FOR ANY DIRECT,
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  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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  STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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  POSSIBILITY OF SUCH DAMAGE.

For the include\apr_md5.h component: 

 * This is work is derived from material Copyright RSA Data Security, Inc.
 *
 * The RSA copyright statement and Licence for that original material is
 * included below. This is followed by the Apache copyright statement and
 * licence for the modifications made to that material.

   Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
   rights reserved.

   License to copy and use this software is granted provided that it
   is identified as the "RSA Data Security, Inc. MD5 Message-Digest
   Algorithm" in all material mentioning or referencing this software
   or this function.

   License is also granted to make and use derivative works provided
   that such works are identified as "derived from the RSA Data
   Security, Inc. MD5 Message-Digest Algorithm" in all material
   mentioning or referencing the derived work.

   RSA Data Security, Inc. makes no representations concerning either
   the merchantability of this software or the suitability of this
   software for any particular purpose. It is provided "as is"
   without express or implied warranty of any kind.

   These notices must be retained in any copies of any part of this
   documentation and/or software.

For the passwd\apr_md5.c component:

 * This is work is derived from material Copyright RSA Data Security, Inc.
 *
 * The RSA copyright statement and Licence for that original material is
 * included below. This is followed by the Apache copyright statement and
 * licence for the modifications made to that material.

   Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
   rights reserved.

   License to copy and use this software is granted provided that it
   is identified as the "RSA Data Security, Inc. MD5 Message-Digest
   Algorithm" in all material mentioning or referencing this software
   or this function.

   License is also granted to make and use derivative works provided
   that such works are identified as "derived from the RSA Data
   Security, Inc. MD5 Message-Digest Algorithm" in all material
   mentioning or referencing the derived work.

   RSA Data Security, Inc. makes no representations concerning either
   the merchantability of this software or the suitability of this
   software for any particular purpose. It is provided "as is"
   without express or implied warranty of any kind.

   These notices must be retained in any copies of any part of this
   documentation and/or software.

 * The apr_md5_encode() routine uses much code obtained from the FreeBSD 3.0
 * MD5 crypt() function, which is licenced as follows:
 * ----------------------------------------------------------------------------
 * "THE BEER-WARE LICENSE" (Revision 42):
 * <phk@login.dknet.dk> wrote this file.  As long as you retain this notice you
 * can do whatever you want with this stuff. If we meet some day, and you think
 * this stuff is worth it, you can buy me a beer in return.  Poul-Henning Kamp
 * ----------------------------------------------------------------------------

For the crypto\apr_md4.c component:

 * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
 * rights reserved.
 *
 * License to copy and use this software is granted provided that it
 * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
 * Algorithm" in all material mentioning or referencing this software
 * or this function.
 *
 * License is also granted to make and use derivative works provided
 * that such works are identified as "derived from the RSA Data
 * Security, Inc. MD4 Message-Digest Algorithm" in all material
 * mentioning or referencing the derived work.
 *
 * RSA Data Security, Inc. makes no representations concerning either
 * the merchantability of this software or the suitability of this
 * software for any particular purpose. It is provided "as is"
 * without express or implied warranty of any kind.
 *
 * These notices must be retained in any copies of any part of this
 * documentation and/or software.

For the crypto\crypt_blowfish.c(.h) component:

 * Written by Solar Designer <solar at openwall.com> in 1998-2011.
 * No copyright is claimed, and the software is hereby placed in the public
 * domain.  In case this attempt to disclaim copyright and place the software
 * in the public domain is deemed null and void, then the software is
 * Copyright (c) 1998-2011 Solar Designer and it is hereby released to the
 * general public under the following terms:
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted.
 *
 * There's ABSOLUTELY NO WARRANTY, express or implied.

 See crypto/crypt_blowfish.c for more information.

For the include\apr_md4.h component:

 * This is derived from material copyright RSA Data Security, Inc.
 * Their notice is reproduced below in its entirety.
 *
 * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
 * rights reserved.
 *
 * License to copy and use this software is granted provided that it
 * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
 * Algorithm" in all material mentioning or referencing this software
 * or this function.
 *
 * License is also granted to make and use derivative works provided
 * that such works are identified as "derived from the RSA Data
 * Security, Inc. MD4 Message-Digest Algorithm" in all material
 * mentioning or referencing the derived work.
 *
 * RSA Data Security, Inc. makes no representations concerning either
 * the merchantability of this software or the suitability of this
 * software for any particular purpose. It is provided "as is"
 * without express or implied warranty of any kind.
 *
 * These notices must be retained in any copies of any part of this
 * documentation and/or software.

For the test\testmd4.c component:

 * This is derived from material copyright RSA Data Security, Inc.
 * Their notice is reproduced below in its entirety.
 *
 * Copyright (C) 1990-2, RSA Data Security, Inc. Created 1990. All
 * rights reserved.
 *
 * RSA Data Security, Inc. makes no representations concerning either
 * the merchantability of this software or the suitability of this
 * software for any particular purpose. It is provided "as is"
 * without express or implied warranty of any kind.
 *
 * These notices must be retained in any copies of any part of this
 * documentation and/or software.
===============================================================
LIVOX’s Livox SDK uses unmodified libraries of Boost (https://www.boost.org), which is licensed under the Boost Software license. A copy of the Boost Software license is provided below and is also available at https://www.boost.org/LICENSE_1_0.txt.

-------------------------------------------------------------
Boost Software License - Version 1.0 - August 17th, 2003

Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
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Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:

The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
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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, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
===============================================================
FastCRC
└── sdk_core
    ├── include
    │   └── third_party
    │       └── FastCRC
    │           └── FastCRC.h
    └── src
        └── third_party
            └── FastCRC
                ├── FastCRCsw.cpp
                ├── FastCRC_tables.hpp
                ├── LICENSE.md
                └── README.md

LIVOX’s Livox SDK uses modified libraries of FastCRC (https://github.com/FrankBoesing/FastCRC), which is licensed under MIT license. A copy of the MIT license is provided below and is also available at https://raw.githubusercontent.com/FrankBoesing/FastCRC/master/LICENCE.md.

The MIT License (MIT)

Copyright (c) 2016 Frank

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.
===============================================================
LIVOX’s Livox SDK uses unmodified libraries of Ros (https://github.com/ros/ros), which is licensed under BSD license. A copy of the BSD license is provided below and is also available at https://opensource.org/licenses/BSD-3-Clause.

-------------------------------------------------------------
Copyright (c) 2001 - 2009, The Board of Trustees of the University of Illinois.
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