Third-party sources and licenses / 第三方来源与许可
WAPR source LICENSE does not replace third-party terms. / WAPR 源码许可不替代第三方条款。
Model weights, datasets and task assets may have separate licenses. / 权重、数据集和任务资源可能有独立许可。

GroundingDINO — Apache-2.0
Source / 来源: https://github.com/IDEA-Research/GroundingDINO
Detector source; original notices retained.
检测源码；保留原始声明。

Ultralytics — AGPL-3.0
Source / 来源: https://github.com/ultralytics/ultralytics/tree/v8.3.70
Ultralytics 8.3.70 loader; review AGPL obligations or obtain an upstream commercial license. Native Meta SAM 2 has separate terms.
Ultralytics 8.3.70 加载器；须遵守 AGPL 条款或取得上游商业授权。Meta 原生 SAM 2 另有许可。

DINOv2 — Apache-2.0
Source / 来源: https://github.com/facebookresearch/dinov2
Code and official DINOv2 weights; retain copyright and license.
源码与官方 DINOv2 权重；保留版权和许可。

SAM 2 — Apache-2.0; cctorch: BSD-3-Clause
Source / 来源: https://github.com/facebookresearch/sam2/tree/2b90b9f5ceec907a1c18123530e92e794ad901a4
Native source and official checkpoints; cctorch carries an additional BSD notice. Ultralytics-converted files require checking their distributor terms.
原生源码与官方权重；cctorch 另附 BSD 声明。Ultralytics 转换文件还需核对分发方条款。

SAM 3D Objects — SAM License (custom)
Source / 来源: https://github.com/facebookresearch/sam-3d-objects/tree/f91db411c50efee93d8db7aeb323885650f6f722
Source and model materials follow the upstream custom agreement, including redistribution, attribution and use restrictions.
源码及模型材料遵循上游自定义协议，包括再分发、署名与使用限制。

MoGe — MIT; bundled notices also include Apache-2.0
Source / 来源: https://github.com/microsoft/MoGe
MoGe source and the selected moge-vitl model (model card: MIT); retain the complete combined LICENSE and dependency notices.
MoGe 源码与所选 moge-vitl 权重（模型卡：MIT）；保留完整组合 LICENSE 及依赖声明。

UniPose9D — Apache-2.0
Source / 来源: https://github.com/qq456cvb/UniPose9D
Inference repository and its release; helper models retain their own terms.
推理仓库及其发布材料；辅助模型保留各自条款。

RoMa — MIT
Source / 来源: https://github.com/Parskatt/RoMa
Matching source; separately obtained checkpoints and dependencies retain upstream terms.
匹配源码；另行获取的权重与依赖保留上游条款。

Qwen2.5-VL-3B-Instruct — Qwen Research License (custom)
Source / 来源: https://huggingface.co/Qwen/Qwen2.5-VL-3B-Instruct
This exact 3B model permits non-commercial research/evaluation; commercial use requires permission from Alibaba Cloud. Do not infer its terms from other Qwen sizes.
本项目选用的 3B 模型限定非商业研究/评估；商业使用须向 Alibaba Cloud 申请。不能套用其他 Qwen 规格的许可。

Fast-SAM3D — Not independently declared / 未单独声明
Source / 来源: https://github.com/wlfeng0509/Fast-SAM3D
No root LICENSE was found in the checked upstream snapshot. SAM-derived code retains SAM terms; an independent grant for its added acceleration code remains unconfirmed.
已检查的上游快照未发现根目录 LICENSE。SAM 派生代码保留 SAM 条款；新增加速代码的独立授权尚未确认。

BOP COCO evaluation fork — BSD-2-Clause
Source / 来源: https://github.com/MartinSmeyer/cocoapi/tree/v1.0
The vendored BOP COCO evaluation fork; exact file provenance is in the original source.
随包 BOP COCO 评测分支；文件来源见 the original source。

FoundationPose — NVIDIA custom source license
Source / 来源: https://github.com/NVlabs/FoundationPose
Comparison method source has a custom license; do not describe it as MIT or presume weights share the same grant.
对照方法源码使用自定义许可；不能标为 MIT，也不能推定权重有相同授权。

MegaPose — Apache-2.0
Source / 来源: https://github.com/megapose6d/megapose6d
Comparison source; upstream model/data materials may have separate terms.
对照源码；上游模型与数据可能有独立条款。

Three.js — MIT
Source / 来源: https://github.com/mrdoob/three.js/tree/r160
JavaScript viewer dependency; keep its embedded copyright header.
JavaScript 查看器依赖；保留其内嵌版权声明。

WenQuanYi Micro Hei — Apache-2.0 OR GPL-3.0-or-later with font exception
Source / 来源: https://wenq.org/wqy2/index.cgi?MicroHei
Unmodified bundled font; complete dual-license copyright notice and Apache text are supplied.
随包原版字体；提供完整双许可版权声明及 Apache 正文。

nvdiffrast — NVIDIA Source Code License (custom)
Source / 来源: https://github.com/NVlabs/nvdiffrast
Optional renderer dependency; consult the upstream source license.
可选渲染后端依赖；以其上游源码许可为准。

torch — BSD License
Source / 来源: https://pytorch.org/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

torchvision — BSD
Source / 来源: https://github.com/pytorch/vision
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

numpy — BSD License
Source / 来源: https://numpy.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

kornia — Apache Software License
Source / 来源: https://www.kornia.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

opencv-contrib-python — Apache Software License
Source / 来源: https://github.com/opencv/opencv-python
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

trimesh — MIT License
Source / 来源: https://github.com/mikedh/trimesh
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

pybind11 — BSD License
Source / 来源: https://github.com/pybind/pybind11
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

pillow — MIT-CMU
Source / 来源: https://github.com/python-pillow/Pillow/releases
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

transformers — Apache Software License
Source / 来源: https://github.com/huggingface/transformers
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

timm — Apache Software License
Source / 来源: https://github.com/huggingface/pytorch-image-models
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

addict — MIT License
Source / 来源: https://github.com/mewwts/addict
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

yapf — Apache Software License
Source / 来源: https://github.com/google/yapf
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

supervision — BSD License
Source / 来源: https://github.com/roboflow/supervision
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

pycocotools — BSD-2-Clause
Source / 来源: https://github.com/ppwwyyxx/cocoapi
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

scipy — BSD License
Source / 来源: https://scipy.org/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

tensorrt-cu12 — Other/Proprietary License
Source / 来源: https://github.com/nvidia/tensorrt
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

onnx — Apache-2.0
Source / 来源: https://onnx.ai/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

ml-dtypes — Apache-2.0
Source / 来源: https://github.com/jax-ml/ml_dtypes
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

matplotlib — Python Software Foundation License
Source / 来源: https://matplotlib.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

pandas — BSD License
Source / 来源: https://pandas.pydata.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

seaborn — BSD License
Source / 来源: http://seaborn.pydata.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

psutil — BSD-3-Clause
Source / 来源: https://github.com/giampaolo/psutil
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

py-cpuinfo — MIT License
Source / 来源: https://github.com/workhorsy/py-cpuinfo
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

PyYAML — MIT License
Source / 来源: https://pyyaml.org/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

requests — Apache Software License
Source / 来源: https://requests.readthedocs.io
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

tqdm — MIT License
Source / 来源: https://tqdm.github.io
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

huggingface-hub — Apache Software License
Source / 来源: https://github.com/huggingface/huggingface_hub
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

tokenizers — Apache Software License
Source / 来源: https://github.com/huggingface/tokenizers
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

safetensors — Apache Software License
Source / 来源: https://github.com/huggingface/safetensors
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

ultralytics-thop — GNU Affero General Public License v3 or later (AGPLv3+)
Source / 来源: https://ultralytics.com
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

mani-skill — Apache-2.0
Source / 来源: https://github.com/mani-skill/ManiSkill
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

sapien — MIT License
Source / 来源: https://sapien.ucsd.edu
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

mplib — MIT License
Source / 来源: https://pypi.org/project/mplib/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

pytorch3d — BSD-3-Clause
Source / 来源: https://github.com/facebookresearch/pytorch3d
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

romatch — MIT
Source / 来源: https://pypi.org/project/romatch/
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

moge — MIT
Source / 来源: https://github.com/microsoft/MoGe
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

onnxruntime-gpu — MIT
Source / 来源: https://onnxruntime.ai
Optional inference runtime.
可选推理后端。

xatlas — MIT License
Source / 来源: https://github.com/mworchel/xatlas-python
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

scikit-image — BSD License
Source / 来源: https://scikit-image.org
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

imageio-ffmpeg — BSD License
Source / 来源: https://github.com/imageio/imageio-ffmpeg
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

gsplat — Apache-2.0
Source / 来源: https://github.com/nerfstudio-project/gsplat
Runtime dependency; dependencies and model/data assets retain their own licenses.
运行依赖；依赖及模型/数据资源保留各自许可。

beautifulsoup4 — MIT
Source / 来源: https://pypi.org/project/beautifulsoup4/
Documentation dependency.
文档依赖。

BERT base uncased — Apache-2.0
Source / 来源: https://huggingface.co/google-bert/bert-base-uncased
Official selected text model; preserve its model-repository terms.
所选官方文本模型；保留其模型仓库条款。

LM-O data — CC-BY-SA-4.0
Source / 来源: https://bop.felk.cvut.cz/datasets/#LM-O
Data and model excerpt, not the loader code.
数据与模型摘录，不是读取代码。

T-LESS data — CC-BY-4.0
Source / 来源: https://bop.felk.cvut.cz/datasets/#T-LESS
Data and object models; attribute the original dataset.
数据与物体模型；须标注原始数据集。

TUD-L data — CC-BY-SA-4.0
Source / 来源: https://bop.felk.cvut.cz/datasets/#TUD-L
Dataset terms are independent of WAPR source.
数据许可独立于 WAPR 源码。

ITODD data — CC-BY-NC-SA-4.0
Source / 来源: https://bop.felk.cvut.cz/datasets/#ITODD
Non-commercial dataset; WAPR permissions do not replace dataset terms.
非商业数据集；WAPR 授权不替代数据条款。

TACO data — Not separately verified / 未单独核实
Source / 来源: https://huggingface.co/datasets/mzhobro/taco_dataset
The referenced dataset card has no explicit license field; request the data owner's terms before redistribution or commercial use.
所引用的数据卡未声明明确的许可字段；再分发或商业使用前须向数据权利方核实。

YCBInEOAT data — Not separately verified / 未单独核实
Source / 来源: https://github.com/NVlabs/FoundationPose#datasets
Tracking data permission must be checked at the original archive; the comparison code license does not establish the data license.
跟踪数据许可须在原始归档核实；对照代码的许可不能作为数据许可。

ROBI data — Not separately verified / 未单独核实
Source / 来源: https://github.com/junyang224/ROBI_Toolkit
The saved public poses and dataset are credited to ROBI; an independent grant to redistribute them has not been verified.
保存的公开位姿和数据均注明 ROBI 来源；其再分发授权尚未独立核实。


DejaVu fonts — Bitstream Vera license; DejaVu changes public domain
Source / 来源: https://dejavu-fonts.github.io/
Unmodified regular and bold Sans fonts for portable figures. Original terms retained.
未修改的常规和粗体 Sans 字体，用于可迁移的图示；保留原始条款。

Bundled notices / 随附资源声明
GroundingDINO adaptation: wapr/tools/compat/LICENSE
SAM-derived reconstruction integration: examples/11_reconstruct_object/fast_sam3d/LICENSE
DejaVu fonts: wapr/fonts/LICENSE_DEJAVU
WenQuanYi font: wapr/fonts/wqy-microhei-copyright.txt, wapr/fonts/Apache-2.0.txt
External dependencies provide their licenses in their own distributions.
外部依赖的许可随各自发行包提供。
