Release 1.3.0: CUDA 10.0 and Ubuntu 18.04 compatibility.

Uses C++11 by default. Adds ROS-connected DistanceROSDemo example. Improved Visualizer Shared Memory error handling.

Major changes:
- Added DistanceROSDemo to show-case a ROS node subscribing to PCL point-clouds.
- Implemented additional merge functions
  - Added TemplateVoxelMap.merge(TemplateVoxelList)
  - Added functions to merge TemplateVoxelList into BitVoxelList and CountingVoxelList;
- Added TemplateVoxelMap::clone and TemplateVoxelList::clone, was previously
only available in DistanceVoxelMap
- Added functions that implement the morphological operations Closing, Dilation and Erosion
- Added function getCenterOfMass to TemplateVoxelList and TemplateVoxelMap
- Added BitVoxelList::copyCoordsToHostBvmBounded: allows the selective copy of voxels with BitVoxelMeanings in a given range
- Updated icmaker and icl_core to fix issues with new Boost and CMake versions

Possibly breaking changes:
- C++11 support is active by default. The new "indigo" branch has C++11 deactivated by default, is identical otherwise
- changed BitVoxelList::findMatchingVoxels signature:
  - Implicitly set argument list1 to 'this'.
  - Add option omit_coords: if true, output VoxelLists will only contain voxel IDs and data but the coord_list will be empty (default). If set to false, voxel coordinates will also be copied to the output lists.

Additional changes:
- gvl_ompl_planner:
  - fixed collision check threshold value
  - updated comments and logging output
- gvl_ompl_planner: added comment regarding LD_LIBRARY_PATH
- fix MetaPointCloud name unknown for robot links without geometry
- updated stb_image.h to version 2.19
- fix ROS&Urdf CMake discovery issue
- add tests for TemplateVoxelList and TemplateVoxelMap clone
- add hollie_from_pointcloud2.pcd for example DistanceVoxelTest.cpp
- fix a CountingVoxelList visualization issue

Known Issues:
- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
  + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
  + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
  + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed").
  + Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
- The GLM headers provided by Ubuntu 16.04 have to be patched to allow usage of the visualizer.
  - see g-truc/glm#530
  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch
- The constant cMAX_NR_OF_BLOCKS is currently limited to 65535, while current CUDA devices support over 2 billion blocks
  - relevant during computeLinearLoad calls and collision checking

README.md

@@ -13,12 +13,12 @@ If you have questions or experience any problems with the software, please post
 at https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/issues
 
 ## Install dependencies:
-This software is tested under 64 Bit Ubuntu Linux 14.04 and 16.04.
+This software is tested under 64 Bit Ubuntu Linux 14.04, 16.04 and 18.04.
 Find detailed installation and linking instructions in our Doxygen.
 
 **Core:**
 
-- CUDA 7.5, 8.0 and 9.2
+- CUDA 7.5, 8.0, 9.x or 10.0
 - PCL
 - OpenNI
 - Boost
@@ -51,20 +51,25 @@ Doxygen files can be generated by
 
         make doc
 
-## Enabling C++11
-C++11 is not enabled by default. To compile in C++11 mode add this to the top of packages/gpu_voxels/CMakeLists.txt: 
+## Compiling without C++11
+C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt: 
  SET(CMAKE_CXX_STANDARD 11)
+This is important if you are still using ROS Indigo and need to compile without C++11 support for compatibility reasons. There is a separate indigo branch that only differs in this line to disable C++11 during compilation.
 
 ## Known issues
-- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed").
+- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
+- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
+  + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
+  + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
+  + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
+- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
 - GLM: There is a known bug in GLM on Ubuntu 16.04 that has to be patched to allow usage of the visualizer. Apply the patch described at https://github.com/g-truc/glm/issues/530 to /usr/include/glm/detail/func_common.inl
-- Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x". Can be fixed by using latest unstable version of Eigen
 
 ## Maintainers:
 The library is developed and maintained by:
 
-- Andreas Hermann
 - Christian Jülg
+- Andreas Hermann
 
 Contributors are (in temporal order):
 
@@ -75,6 +80,7 @@ Contributors are (in temporal order):
 - Herbert Pietrzyk
 - Gabriele Bolano
 - Florian Fervers
+- Erik Albert
 
 ## License:
 The software in this repository underlies different licenses.

changelog.txt

@@ -509,3 +509,53 @@ V1.2.2 (2018-08-29):
 ====================
 Fix missing CUDA include and link directive in gvl_ompl_planner and example_howto_link
 
+
+V1.3.0 (2019-01-07):
+====================
+CUDA 10.0 and Ubuntu 18.04 compatibility. Use C++11 by default. Add
+ROS-connected DistanceROSDemo example. Improve Visualizer Shared Memory error handling.
+
+Major changes:
+- Added DistanceROSDemo to show-case a ROS node subscribing to PCL point-clouds.
+- Implemented additional merge functions
+  - Added TemplateVoxelMap.merge(TemplateVoxelList)
+  - Added functions to merge TemplateVoxelList into BitVoxelList and CountingVoxelList;
+- Added TemplateVoxelMap::clone and TemplateVoxelList::clone, was previously
+only available in DistanceVoxelMap
+- Added functions that implement the morphological operations Closing, Dilation and Erosion
+- Added function getCenterOfMass to TemplateVoxelList and TemplateVoxelMap
+- Added BitVoxelList::copyCoordsToHostBvmBounded: allows the selective copy of voxels with BitVoxelMeanings in a given range
+- Updated icmaker and icl_core to fix issues with new Boost and CMake versions
+
+Possibly breaking changes:
+- C++11 support is active by default. The new "indigo" branch has C++11 deactivated by default, is identical otherwise
+- changed BitVoxelList::findMatchingVoxels signature:
+  - Implicitly set argument list1 to 'this'.
+  - Add option omit_coords: if true, output VoxelLists will only contain voxel IDs and data but the coord_list will be empty (default). If set to false, voxel coordinates will also be copied to the output lists.
+
+Additional changes:
+- gvl_ompl_planner:
+  - fixed collision check threshold value
+  - updated comments and logging output
+- gvl_ompl_planner: added comment regarding LD_LIBRARY_PATH
+- fix MetaPointCloud name unknown for robot links without geometry
+- updated stb_image.h to version 2.19
+- fix ROS&Urdf CMake discovery issue
+- add tests for TemplateVoxelList and TemplateVoxelMap clone
+- add hollie_from_pointcloud2.pcd for example DistanceVoxelTest.cpp
+- fix a CountingVoxelList visualization issue
+
+Known Issues:
+- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
+  + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
+  + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
+  + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
+- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
+- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). 
+  + Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
+- The GLM headers provided by Ubuntu 16.04 have to be patched to allow usage of the visualizer.
+  - see https://github.com/g-truc/glm/issues/530
+  - patch for /usr/include/glm/detail/func_common.inl in packages/gpu_voxels/doc/glm_fix_issu530.patch
+- The constant cMAX_NR_OF_BLOCKS is currently limited to 65535, while current CUDA devices support over 2 billion blocks
+  - relevant during computeLinearLoad calls and collision checking
+

gvl_ompl_planning/README.txt

@@ -31,6 +31,7 @@ This example uses GPU-Voxels data structures and collision checking to plan the
 
 * Launch planner
  export GPU_VOXELS_MODEL_PATH=<gpu-voxels-path>/packages/gpu_voxels/models/
+ # if libs are not found: export LD_LIBRARY_PATH=<gpu-voxels-path>/export/lib:$LD_LIBRARY_PATH
  ./gvl_ompl_planner
 
 * Start Visualizer
@@ -55,5 +56,6 @@ This example uses GPU-Voxels data structures and collision checking to plan the
  cmake -DCMAKE_PREFIX_PATH=<gpu-voxels-path>/export:~/pcl-1.8.1/build/lib/ ..
  make
  ldd gvl_ompl_planner | grep -F "libpcl" # make sure there are no pcl 1.7 libraries linked in
+ # if libs are not found: export LD_LIBRARY_PATH=<gpu-voxels-path>/export/lib:$LD_LIBRARY_PATH
  ./gvl_ompl_planner 
 

gvl_ompl_planning/gvl_ompl_planner_helper.cpp

@@ -193,7 +193,7 @@ bool GvlOmplPlannerHelper::isValid(const ompl::base::State *state) const
     PERF_MON_SILENT_MEASURE_AND_RESET_INFO_P("insert", "Pose Insertion", "pose_check");
 
     PERF_MON_START("coll_test");
-    size_t num_colls_pc = gvl->getMap("myRobotMap")->as<voxelmap::ProbVoxelMap>()->collideWith(gvl->getMap("myEnvironmentMap")->as<voxelmap::ProbVoxelMap>());
+    size_t num_colls_pc = gvl->getMap("myRobotMap")->as<voxelmap::ProbVoxelMap>()->collideWith(gvl->getMap("myEnvironmentMap")->as<voxelmap::ProbVoxelMap>(), 0.7f);
     PERF_MON_SILENT_MEASURE_AND_RESET_INFO_P("coll_test", "Pose Collsion", "pose_check");
 
     //std::cout << "Validity check on state ["  << values[0] << ", " << values[1] << ", " << values[2] << ", " << values[3] << ", " << values[4] << ", " << values[5] << "] resulting in " <<  num_colls_pc << " colls." << std::endl;
@@ -324,7 +324,7 @@ bool GvlOmplPlannerHelper::checkMotion(const ompl::base::State *s1, const ompl::
 
         //gvl->visualizeMap("myRobotMap");
         PERF_MON_START("coll_test");
-        size_t num_colls_pc = gvl->getMap("myRobotMap")->as<voxelmap::ProbVoxelMap>()->collideWith(gvl->getMap("myEnvironmentMap")->as<voxelmap::ProbVoxelMap>());
+        size_t num_colls_pc = gvl->getMap("myRobotMap")->as<voxelmap::ProbVoxelMap>()->collideWith(gvl->getMap("myEnvironmentMap")->as<voxelmap::ProbVoxelMap>(), 0.7f);
         //std::cout << "CheckMotion1 for " << nd << " segments. Resulting in " << num_colls_pc << " colls." << std::endl;
         PERF_MON_SILENT_MEASURE_AND_RESET_INFO_P("coll_test", "Pose Collsion", "motion_check");
 

packages/gpu_voxels/CMakeLists.txt

@@ -1,6 +1,6 @@
 # this is for emacs file handling -*- mode: cmake; indent-tabs-mode: nil -*-
 
-SET(CMAKE_CXX_STANDARD 11) # uncomment to activate C++11 mode
+SET(CMAKE_CXX_STANDARD 11) # comment out to deactivate C++11 when using ROS indigo to avoid incompatibilities
 
 # --- To be used by other modules ---
 SET(GPU_VOXELS_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/src" CACHE INTERNAL "")
@@ -25,20 +25,20 @@ FIND_PACKAGE(GLM)
 FIND_PACKAGE(OpenGL)
 FIND_PACKAGE(GLUT)
 
+# Dependencies for ROS interconnect
+FIND_PACKAGE(ROS)
+
 # Dependencies for URDF loading (also requires ROS for kdl/frames.hpp)
 FIND_PACKAGE(urdfdom)
 FIND_PACKAGE(orocos_kdl)
 FIND_PACKAGE(kdl_parser)
 
-# Dependencied for Benchmarking against Octomap
+# Dependencies for Benchmarking against Octomap
 FIND_PACKAGE(Octomap)
 
 # Dependencies for PCL interfaces
 FIND_PACKAGE(PCL)
 
-# Dependencies for ROS interconnect
-FIND_PACKAGE(ROS)
-
 FIND_PACKAGE(pcl_ros)
 
 # Dependencies for Kinect support
@@ -82,9 +82,9 @@ ELSE(ROS_FOUND)
   MESSAGE(STATUS "[WARNING] Building GPU-Voxels without ROS connections. ROS not found.")
 ENDIF(ROS_FOUND)
 
-IF(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND AND ROS_FOUND)
+IF(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND)
   MESSAGE(STATUS "[OK]      Building GPU-Voxels with URDF support. urdfdom, orocos and kdl_parser and ROS-kdl were found.")
-ELSE(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND AND ROS_FOUND)
+ELSE(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND)
   MESSAGE(STATUS "[WARNING] Building GPU-Voxels without URDF support. Could not find the following packages:")
   IF(NOT urdfdom_FOUND)
     MESSAGE(STATUS "    urdfdom")
@@ -95,10 +95,10 @@ ELSE(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND AND ROS_FOUND)
   IF(NOT kdl_parser_FOUND)
     MESSAGE(STATUS "    kdl_parser")
   ENDIF(NOT kdl_parser_FOUND)
-  IF(NOT ROS_FOUND)
-    MESSAGE(STATUS "    ROS")
-  ENDIF(NOT ROS_FOUND)
-ENDIF(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND AND ROS_FOUND)
+  IF(ROS_FOUND)
+    MESSAGE(STATUS "!!! to fix this, source /opt/ros/YOUR_ROS_DISTRO/setup.bash before building !!!")
+  ENDIF(ROS_FOUND)
+ENDIF(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND)
 
 #IF(OPENNI2_FOUND)
 #  MESSAGE(STATUS "[OK]      Building GPU-Voxels with Kinect support. OpenNI2 was found.")
@@ -137,9 +137,13 @@ MESSAGE(STATUS "----------------------------------------------------------------
 # GPU-Voxels requires GPU CUDA capabilities >= 2.0
 #SET(ICMAKER_CUDA_COMPUTE_VERSION 20)
 SET(ICMAKER_CUDA_COMPUTE_VERSION 35)
+
 SET(ICMAKER_CUDA_ARCH compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 
+#Usage example for specifying PTX for compute_35 and cubin for sm_51:
+# SET(ICMAKER_CUDA_CODE compute_35,sm_51)
+
 ## Uncomment this definition if you want to avoid PTX JIT compilation at first runtime. 
 ## Having both a compute_ and a sm_ code target will include both PTX and CUBIN in the final binary.
 ## IMPORTANT: Check your device's compute capability. the sm_xy argument needs to match your device to have any effect!

packages/gpu_voxels/LICENSE.txt

@@ -9,3 +9,4 @@ To clarify this:
 - GPU-Voxels is distributed under the CDDL license
 - PBA kernel code in GPU-Voxels is distributed under the BSD-like license found in LICENSE_PBA.txt
 - icl_core helber library is distributed under CDDL license
+- stb_image.h is distributed under two licenses, see LICENSE_std_image.txt

packages/gpu_voxels/LICENSE_stb_image.txt

@@ -0,0 +1,39 @@
+------------------------------------------------------------------------------
+This software is available under 2 licenses -- choose whichever you prefer.
+------------------------------------------------------------------------------
+ALTERNATIVE A - MIT License
+Copyright (c) 2017 Sean Barrett
+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.
+------------------------------------------------------------------------------
+ALTERNATIVE B - Public Domain (www.unlicense.org)
+This is free and unencumbered software released into the public domain.
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
+commercial or non-commercial, and by any means.
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
+this software under copyright law.
+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 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.
+------------------------------------------------------------------------------

packages/gpu_voxels/README.md

@@ -13,12 +13,12 @@ If you have questions or experience any problems with the software, please post
 at https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/issues
 
 ## Install dependencies:
-This software is tested under 64 Bit Ubuntu Linux 14.04 and 16.04.
+This software is tested under 64 Bit Ubuntu Linux 14.04, 16.04 and 18.04.
 Find detailed installation and linking instructions in our Doxygen.
 
 **Core:**
 
-- CUDA 7.5, 8.0 and 9.2
+- CUDA 7.5, 8.0, 9.x or 10.0
 - PCL
 - OpenNI
 - Boost
@@ -51,20 +51,29 @@ Doxygen files can be generated by
 
         make doc
 
+## Compiling without C++11
+C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt:
+ SET(CMAKE_CXX_STANDARD 11)
+This is important if you are still using ROS Indigo and need to compile without C++11 support for compatibility reasons. There is a separate indigo branch that only differs in this line to disable C++11 during compilation.
+
 ## Enabling C++11
-C++11 is not enabled by default. To compile in C++11 mode add this to the top of packages/gpu_voxels/CMakeLists.txt: 
+C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt: 
  SET(CMAKE_CXX_STANDARD 11)
 
 ## Known issues
-- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed").
+- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
+- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
+  + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
+  + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
+  + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
+- Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
 - GLM: There is a known bug in GLM on Ubuntu 16.04 that has to be patched to allow usage of the visualizer. Apply the patch described at https://github.com/g-truc/glm/issues/530 to /usr/include/glm/detail/func_common.inl
-- Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x". Can be fixed by using latest unstable version of Eigen
 
 ## Maintainers:
 The library is developed and maintained by:
 
-- Andreas Hermann
 - Christian Jülg
+- Andreas Hermann
 
 Contributors are (in temporal order):
 
@@ -75,6 +84,7 @@ Contributors are (in temporal order):
 - Herbert Pietrzyk
 - Gabriele Bolano
 - Florian Fervers
+- Erik Albert
 
 ## License:
 The software in this repository underlies different licenses.