This software includes the copy/modification of the following open source software:

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

applies to:
- imagezmq, Copyright (c) 2019, Jeff Bass, jeff@yin-yang-ranch.com.
    in jajucha/communication.py, lines 18-60

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.

----------------------------------------------------------------------------------
LICENSE

applies to:
- scipy-cookbook
    in jajucha/planning.py, lines 180-265

Copyright (c) 2001, 2002 Enthought, Inc.
All rights reserved.

Copyright (c) 2003-2017 SciPy Developers.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

  a. Redistributions of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.
  b. 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.
  c. Neither the name of Enthought nor the names of the SciPy Developers
     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 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.

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This software uses following Open Source Software libraries:
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Python 3.7.8
    https://www.python.org/

    PSF LICENSE AGREEMENT FOR PYTHON 3.7.8
    1. This LICENSE AGREEMENT is between the Python Software Foundation ("PSF"), and
    the Individual or Organization ("Licensee") accessing and otherwise using Python
    3.7.8 software in source or binary form and its associated documentation.

    2. Subject to the terms and conditions of this License Agreement, PSF hereby
    grants Licensee a nonexclusive, royalty-free, world-wide license to reproduce,
    analyze, test, perform and/or display publicly, prepare derivative works,
    distribute, and otherwise use Python 3.7.8 alone or in any derivative
    version, provided, however, that PSF's License Agreement and PSF's notice of
    copyright, i.e., "Copyright © 2001-2020 Python Software Foundation; All Rights
    Reserved" are retained in Python 3.7.8 alone or in any derivative version
    prepared by Licensee.

    3. In the event Licensee prepares a derivative work that is based on or
    incorporates Python 3.7.8 or any part thereof, and wants to make the
    derivative work available to others as provided herein, then Licensee hereby
    agrees to include in any such work a brief summary of the changes made to Python
    3.7.8.

    4. PSF is making Python 3.7.8 available to Licensee on an "AS IS" basis.
    PSF MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED.  BY WAY OF
    EXAMPLE, BUT NOT LIMITATION, PSF MAKES NO AND DISCLAIMS ANY REPRESENTATION OR
    WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE OR THAT THE
    USE OF PYTHON 3.7.8 WILL NOT INFRINGE ANY THIRD PARTY RIGHTS.

    5. PSF SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF PYTHON 3.7.8
    FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR LOSS AS A RESULT OF
    MODIFYING, DISTRIBUTING, OR OTHERWISE USING PYTHON 3.7.8, OR ANY DERIVATIVE
    THEREOF, EVEN IF ADVISED OF THE POSSIBILITY THEREOF.

    6. This License Agreement will automatically terminate upon a material breach of
    its terms and conditions.

    7. Nothing in this License Agreement shall be deemed to create any relationship
    of agency, partnership, or joint venture between PSF and Licensee.  This License
    Agreement does not grant permission to use PSF trademarks or trade name in a
    trademark sense to endorse or promote products or services of Licensee, or any
    third party.

    8. By copying, installing or otherwise using Python 3.7.8, Licensee agrees
    to be bound by the terms and conditions of this License Agreement.
----------------------------------------------------------------------------------
PyZMQ
    https://github.com/zeromq/pyzmq

    PyZMQ is licensed under the terms of the Modified BSD License (also known as
    New or Revised BSD), as follows:

    Copyright (c) 2009-2012, Brian Granger, Min Ragan-Kelley

    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 PyZMQ 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.
----------------------------------------------------------------------------------
imagezmq
    https://github.com/jeffbass/imagezmq

    The MIT License (MIT)

    Copyright (c) 2019, Jeff Bass, jeff@yin-yang-ranch.com.

    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.
----------------------------------------------------------------------------------
OpenCV
    https://opencv.org/


                              License Agreement
                   For Open Source Computer Vision Library
                           (3-clause BSD License)

    Copyright (C) 2000-2020, 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.
    Copyright (C) 2019-2020, Xperience AI, 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.
----------------------------------------------------------------------------------
opencv-python
    https://github.com/skvark/opencv-python

    MIT License

    Copyright (c) Olli-Pekka Heinisuo

    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.
----------------------------------------------------------------------------------
numpy
    https://www.numpy.org/

    Copyright (c) 2005-2020, NumPy Developers.
    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 the NumPy Developers nor the names of any
           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.
----------------------------------------------------------------------------------
scipy
    https://www.scipy.org/

    Copyright (c) 2001-2002 Enthought, Inc.  2003-2019, SciPy Developers.
    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. Neither the name of the copyright holder 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.
----------------------------------------------------------------------------------
Pillow
    https://github.com/python-pillow/Pillow

    The Python Imaging Library (PIL) is

        Copyright © 1997-2011 by Secret Labs AB
        Copyright © 1995-2011 by Fredrik Lundh

    Pillow is the friendly PIL fork. It is

        Copyright © 2010-2020 by Alex Clark and contributors

    Like PIL, Pillow is licensed under the open source PIL Software License:

    By obtaining, using, and/or copying this software and/or its associated
    documentation, you agree that you have read, understood, and will comply
    with the following terms and conditions:

    Permission to use, copy, modify, and distribute this software and its
    associated documentation for any purpose and without fee is hereby granted,
    provided that the above copyright notice appears in all copies, and that
    both that copyright notice and this permission notice appear in supporting
    documentation, and that the name of Secret Labs AB or the author not be
    used in advertising or publicity pertaining to distribution of the software
    without specific, written prior permission.

    SECRET LABS AB AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS
    SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS.
    IN NO EVENT SHALL SECRET LABS AB OR THE AUTHOR 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.
----------------------------------------------------------------------------------
Tcl/Tk
    https://www.tcl.tk/

    This software is copyrighted by the Regents of the University of California, Sun Microsystems, Inc., Scriptics Corporation, and other parties. The following terms apply to all files associated with the software unless explicitly disclaimed in individual files.

   The authors hereby grant permission to use, copy, modify, distribute, and license this software and its documentation for any purpose, provided that existing copyright notices are retained in all copies and that this notice is included verbatim in any distributions. No written agreement, license, or royalty fee is required for any of the authorized uses. Modifications to this software may be copyrighted by their authors and need not follow the licensing terms described here, provided that the new terms are clearly indicated on the first page of each file where they apply.

   IN NO EVENT SHALL THE AUTHORS OR DISTRIBUTORS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE, ITS DOCUMENTATION, OR ANY DERIVATIVES THEREOF, EVEN IF THE AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

   THE AUTHORS AND DISTRIBUTORS SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT. THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. 
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