diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index b2e158447a5f441967e1a459cd340a0cdd4f720e..3f575df618c92c483ca0e2e553091efdd50319e9 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,5 +1,68 @@
+stages:
+  - license
+  - build_and_test
+
 ############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+  ## Install ssh-agent if not already installed, it is required by Docker.
+  ## (change apt-get to yum if you use an RPM-based image)
+  - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+  ## Run ssh-agent (inside the build environment)
+  - eval $(ssh-agent -s)
+
+  ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+  ## We're using tr to fix line endings which makes ed25519 keys work
+  ## without extra base64 encoding.
+  ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh  
+  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+  # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+  - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+  # update apt
+  - apt-get update
+
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  #- export CI_NEW_BRANCH=ci_processing$CI_COMMIT_SHORT_SHA
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - cd scripts
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./license_manager.sh --add --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
+  - else
+      # update license headers of all files
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+  -   ./license_manager.sh --update --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
+  - fi
+  - cd ..
+
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+  - else
+  -   echo "No changes, nothing to commit!"
+  - fi
+
 .build_and_test_template: &build_and_test_definition
+  - cd $CI_PROJECT_DIR
   - mkdir -pv build
   - cd build
   - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
@@ -7,18 +70,29 @@
   - ctest -j2
   - make install
 
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps:16.04
+  before_script:
+    - *preliminaries_definition
+  script:
+    - *license_header_definition
+
 ############ UBUNTU 16.04 TESTS ############
 build_and_test_none:xenial:
+  stage: build_and_test
   image: labrobotica/wolf_vision_deps:16.04
   before_script:
-    - apt-get update
+    - *preliminaries_definition
   script:
     - *build_and_test_definition
 
 ############ UBUNTU 18.04 TESTS ############
 build_and_test_none:bionic:
+  stage: build_and_test
   image: labrobotica/wolf_vision_deps:18.04
   before_script:
-    - apt-get update
+    - *preliminaries_definition
   script:
     - *build_and_test_definition
\ No newline at end of file
diff --git a/internal/config.h b/internal/config.h
index 6449c336a10ce2de3629678959b70208e2055486..ecd409131349663f6d4ff0d6cc12e19cb501d0c1 100644
--- a/internal/config.h
+++ b/internal/config.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef VU_INTERNAL_CONFIG_H_
 #define VU_INTERNAL_CONFIG_H_
 
diff --git a/scripts/license_header_2021.txt b/scripts/license_header_2021.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebd2af5f14363da7727d5d2e316eba1cf26dc241
--- /dev/null
+++ b/scripts/license_header_2021.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/scripts/license_manager.sh b/scripts/license_manager.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ee81a37e280949b3337442fcd12f1ad18ae8ac24
--- /dev/null
+++ b/scripts/license_manager.sh
@@ -0,0 +1,124 @@
+#!/bin/bash
+
+# ------ WOLF license_manager script ------
+#
+# This script is used for managing the license headers of code files (.h, .c, .cpp, .hpp)
+# This file is automatically called by the CI in gitlab.
+
+line_start_mark="//--------LICENSE_START--------"
+line_end_mark="//--------LICENSE_END--------"
+
+#options
+tmp=false
+mode="none"
+path=""
+#recursive=true
+license=""
+
+for i in "$@"; do
+  case $i in
+    --temp)
+      tmp=true
+      shift # past argument=value
+      ;;
+    --path=*)
+      path="${i#*=}"
+      shift # past argument=value
+      ;;
+    --license-header=*)
+      license="${i#*=}"
+      shift # past argument=value
+      ;;
+    --add)
+      mode="add"
+      if [ $mode == "update" ]; then
+        echo "Error: Script cannot be called with both options: --update or --add"
+        exit 1
+      fi
+      shift # past argument=value
+      ;;
+    --update)
+      mode="update"
+      if [ $mode == "add" ]; then
+        echo "Error: Script cannot be called with both options: --update or --add"
+        exit 1
+      fi
+      shift # past argument=value
+      ;;
+    *)
+      # unknown option
+      ;;
+  esac
+done
+
+# check options
+if [ "$path" == "" ]; then
+  echo 'Please, provide the path to the folder containing the code with --path=/my/folder/code'
+  exit 1
+else
+  if [ -d "$path" ]; then
+    echo "Valid path: ${path}"
+  else
+    echo "Error: ${path} not found. Can not continue."
+  exit 1
+  fi
+fi
+
+if [ "$license" == "" ]; then
+  echo 'Error: Please, provide the path to the folder containing the code with --license-header=/my/license/header/file.txt'
+  exit 1
+else
+  if [ -f "$license" ]; then
+    echo "Valid license header file: ${license} containing:"
+    cat ${license}
+  else
+    echo "Error: License header file ${license} not found. Can not continue."
+  exit 1
+  fi
+fi
+
+echo "mode: ${mode}"
+
+if [ $mode == "none" ]; then
+  echo "Error: Script should be called with one of the following options: --update or --add"
+  exit 1
+fi
+
+# PATH (AND tmp FOLDER)
+folder=$path
+if [ $tmp == true ]; then
+  echo "Creating temporary folder: ${path}_tmp"
+  mkdir -pv ${path}_tmp
+  cp -a $path/. ${path}_tmp
+  folder=${path}_tmp
+fi
+
+# DETECT AND REMOVE EXISTING LICENSE
+if [ $mode == "update" ]; then
+  echo "Recursely removing license header from all files (.c, .cpp, .h, .hpp)"
+  for i in $(find $folder -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+  do
+    if grep -Fxq ${line_start_mark} $i 
+    then
+      echo "  Removing license header from file ${i}"
+      line_start="$(grep -wn $line_start_mark ${i} | head -n 1 | cut -d: -f1)"
+      line_end="$(grep -wn $line_end_mark ${i} | head -n 1 | cut -d: -f1)"
+      #echo ${line_start}
+      #echo ${line_end}
+      awk -v m=$line_start -v n=$line_end 'm <= NR && NR <= n {next} {print}' $i > tmpfile && mv tmpfile $i 
+      #cat $i
+    fi
+  done
+fi
+
+# ADD CONTENT OF license-file AT THE BEGINNING OF CODE FILES
+echo "Recursively adding license header to all files (.c, .cpp, .h, .hpp)"
+for i in $(find $folder -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+do
+  if grep -Fxq ${line_start_mark} $i; then
+    echo "skippping ${i}"
+  else
+    ( echo ${line_start_mark}$'\n//'; cat ${license}; echo $'//\n'${line_end_mark}; cat $i ) > temp_file
+    mv temp_file $i
+  fi
+done
diff --git a/src/algorithms.h b/src/algorithms.h
index 80e358be674198620a8bcb844898798e137d7b84..4d0c1ddb0987191bfbba587a4d9f4b7dddce5fcf 100644
--- a/src/algorithms.h
+++ b/src/algorithms.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHMS_H_
 #define _ALGORITHMS_H_
 
diff --git a/src/algorithms/activesearch/alg_activesearch.cpp b/src/algorithms/activesearch/alg_activesearch.cpp
index 9cd752a4cb9f7f3ae24cb420f5e413f972ae69ca..a95aee116311b64877fd0f898fdf866445aa4ff1 100644
--- a/src/algorithms/activesearch/alg_activesearch.cpp
+++ b/src/algorithms/activesearch/alg_activesearch.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_activesearch.h"
 
 namespace vision_utils {
diff --git a/src/algorithms/activesearch/alg_activesearch.h b/src/algorithms/activesearch/alg_activesearch.h
index b717c3a371c55673bd42f2cd59d102b31778b69f..052c90cc59eae0e1badf75539a83993dee58f5eb 100644
--- a/src/algorithms/activesearch/alg_activesearch.h
+++ b/src/algorithms/activesearch/alg_activesearch.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_ACTIVESEARCH_H_
 #define _ALGORITHM_ACTIVESEARCH_H_
 
diff --git a/src/algorithms/activesearch/alg_activesearch_load_yaml.cpp b/src/algorithms/activesearch/alg_activesearch_load_yaml.cpp
index a7c0b33d4355f026858bf690e0d2a171b8af6f7a..803f54a80099812e7fb5a76a7261eb63036b33ad 100644
--- a/src/algorithms/activesearch/alg_activesearch_load_yaml.cpp
+++ b/src/algorithms/activesearch/alg_activesearch_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_activesearch.h"
 
 #ifdef USING_YAML
diff --git a/src/algorithms/algorithm_base.cpp b/src/algorithms/algorithm_base.cpp
index 4c23670e07d8c77a63345aa385d6b6d6e28efd7d..09bacba5e6ae0f0814e9c7bab86f344c9ca9c5ae 100644
--- a/src/algorithms/algorithm_base.cpp
+++ b/src/algorithms/algorithm_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "algorithm_base.h"
 
 // yaml-cpp library
diff --git a/src/algorithms/algorithm_base.h b/src/algorithms/algorithm_base.h
index 782b7f5c1841fdcb1ea0760842a1c58c274cb659..16fdd895234fa90eafae1a291c0077f19c06974c 100644
--- a/src/algorithms/algorithm_base.h
+++ b/src/algorithms/algorithm_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_BASE_H_
 #define _ALGORITHM_BASE_H_
 
diff --git a/src/algorithms/algorithm_factory.h b/src/algorithms/algorithm_factory.h
index 9bcaf4b012934a7c21b19d35013f9d83cf213939..236340f828d503077e125b96ae269d8e6ddb190e 100644
--- a/src/algorithms/algorithm_factory.h
+++ b/src/algorithms/algorithm_factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_FACTORY_H_
 #define _ALGORITHM_FACTORY_H_
 
diff --git a/src/algorithms/anms/anms.cpp b/src/algorithms/anms/anms.cpp
index 0bf1c59124d234ecd342853bd2d9aa2588996085..3d0c28924b8a14a79d1c696f2cb49d1705a6163e 100644
--- a/src/algorithms/anms/anms.cpp
+++ b/src/algorithms/anms/anms.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "anms.h"
 
 namespace vision_utils {
diff --git a/src/algorithms/anms/anms.h b/src/algorithms/anms/anms.h
index 64368b669f3698332a1f3886634d135bc43d0cfd..36999781b1fbaf8b8fb58d7a6c0f9da5d062b1b3 100644
--- a/src/algorithms/anms/anms.h
+++ b/src/algorithms/anms/anms.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef ANMS_H
 #define ANMS_H
 
diff --git a/src/algorithms/anms/nanoflann.hpp b/src/algorithms/anms/nanoflann.hpp
old mode 100755
new mode 100644
index 3866be5f71b3c6d0b029d37b486b76024ef6b375..a219562ca45a6b1d047ff76ffb243f032a8ee129
--- a/src/algorithms/anms/nanoflann.hpp
+++ b/src/algorithms/anms/nanoflann.hpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /***********************************************************************
  * Software License Agreement (BSD License)
  *
diff --git a/src/algorithms/anms/range_tree_lrtypes.h b/src/algorithms/anms/range_tree_lrtypes.h
index a8ce23479a0d92af3050b6f6cba9e476eced1a90..1595ca0270a3d9436af660e22eccc8eed6c514ac 100644
--- a/src/algorithms/anms/range_tree_lrtypes.h
+++ b/src/algorithms/anms/range_tree_lrtypes.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LRT_TYPES_H
 #define LRT_TYPES_H
 
diff --git a/src/algorithms/anms/range_tree_ranget.h b/src/algorithms/anms/range_tree_ranget.h
index fc9fe0dc0caae989be3e5deb16abfe26355aa0b8..7f603a4a3200b2f126880dcd0f67758cc423f299 100644
--- a/src/algorithms/anms/range_tree_ranget.h
+++ b/src/algorithms/anms/range_tree_ranget.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
     libranget - optimized 2d range tree
     Copyright (C) 2012 Lauri Kasanen
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
index bcb7ee3adc1408ed843e033282a18c93558a6a61..830228417d65f96e2e1947922df9036284f5308f 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_opticalflowpyrlk.h"
 
 // OpenCV
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
index 74343d0d6d4f8d2391e1b8a0e4f00b393f78fdbf..188ee6ba0c37a52baf2a1083d5e104ebce237bef 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_OPTFLOWPYRLK_H_
 #define _ALGORITHM_OPTFLOWPYRLK_H_
 
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp
index 1da5d9c2b7956d352ffda0c53e4e026f7439d36f..0f6ecc929a4e758a8353e6b70f6a7829880ab47c 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_opticalflowpyrlk.h"
 
 #ifdef USING_YAML
diff --git a/src/algorithms/residualtrilinearity/alg_residualtrilinearity.cpp b/src/algorithms/residualtrilinearity/alg_residualtrilinearity.cpp
index feb306951eac5bdd30a5f68277a74b767d57918c..8b3e89a2f764e3e01103fbb4f15874e267eba80e 100644
--- a/src/algorithms/residualtrilinearity/alg_residualtrilinearity.cpp
+++ b/src/algorithms/residualtrilinearity/alg_residualtrilinearity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_residualtrilinearity.h"
 
 #include "../../common_class/rotations.h"
diff --git a/src/algorithms/residualtrilinearity/alg_residualtrilinearity.h b/src/algorithms/residualtrilinearity/alg_residualtrilinearity.h
index b4be39c9d2e5b6d809f61d39df9c7d32534efb5e..11948c637ed8354bec1cabc1961d4519bc3bb5e1 100644
--- a/src/algorithms/residualtrilinearity/alg_residualtrilinearity.h
+++ b/src/algorithms/residualtrilinearity/alg_residualtrilinearity.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_RESIDUALTRILINEARITY_H_
 #define _ALGORITHM_RESIDUALTRILINEARITY_H_
 
diff --git a/src/algorithms/residualtrilinearity/alg_residualtrilinearity_load_yaml.cpp b/src/algorithms/residualtrilinearity/alg_residualtrilinearity_load_yaml.cpp
index c2d296a2d927e1d10130fc4b83b6dfbebb63d21d..7658ca1ae52c30201faa7a83d21d629a12802d4f 100644
--- a/src/algorithms/residualtrilinearity/alg_residualtrilinearity_load_yaml.cpp
+++ b/src/algorithms/residualtrilinearity/alg_residualtrilinearity_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_residualtrilinearity.h"
 
 #ifdef USING_YAML
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.cpp b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
index 37078abb7c641869f03e5686e600b86aa7f3362f..f4429c91a9ca8cfd8b195fc879c8a03317a2c135 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.cpp
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "../trackfeatures/alg_trackfeatures.h"
 
 namespace vision_utils {
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.h b/src/algorithms/trackfeatures/alg_trackfeatures.h
index 477e3b737e884ecac9ce64e3f24f6672c9844389..743b06da9ad644c028ccb4d25a02dd012208d0c4 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.h
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _ALGORITHM_TRACKFEATURES_H_
 #define _ALGORITHM_TRACKFEATURES_H_
 
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures_load_yaml.cpp b/src/algorithms/trackfeatures/alg_trackfeatures_load_yaml.cpp
index dc6315e6d4f7d4a9970464af0a0bc429bff83e3a..f70b317b08e043e712515735746306aa0c2349ed 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures_load_yaml.cpp
+++ b/src/algorithms/trackfeatures/alg_trackfeatures_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "alg_trackfeatures.h"
 
 #ifdef USING_YAML
diff --git a/src/common_class/buffer.h b/src/common_class/buffer.h
index 2e9d7b407fa0de4403acc75476c45bc20035e2b5..2affbae458605cc69e1c3bebc4a2b4d0e9532ff8 100644
--- a/src/common_class/buffer.h
+++ b/src/common_class/buffer.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _BUFFER_H_
 #define _BUFFER_H_
 
diff --git a/src/common_class/frame.h b/src/common_class/frame.h
index 4664036b41a48bafb01991fd00fd49c184de9c39..55c2aecb66cbbf85a3014030f7faa385897f9893 100644
--- a/src/common_class/frame.h
+++ b/src/common_class/frame.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _FRAME_H_
 #define _FRAME_H_
 
diff --git a/src/common_class/rotations.h b/src/common_class/rotations.h
index 124cef7ff0672ed4c91087a51023a2ebbe4eb074..7f1dadb9ba5e3bf7af1dd17d6df646ed6eb887c4 100644
--- a/src/common_class/rotations.h
+++ b/src/common_class/rotations.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file rotations.h
  *
diff --git a/src/common_class/trifocaltensor.h b/src/common_class/trifocaltensor.h
index fd4e5d61a2f6d81baa8f3a0ab97bc9aa32ddee66..20fafcea91eaddb7ffc2df22fcf7d31c04593996 100644
--- a/src/common_class/trifocaltensor.h
+++ b/src/common_class/trifocaltensor.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _TRIFOCALTENSOR_H_
 #define _TRIFOCALTENSOR_H_
 
diff --git a/src/descriptors.h b/src/descriptors.h
index 61904c2bcdd296a9747a8c9ded9ca8fea637bc97..dded07a90a7269b47e6f958b4fc4f8536bd2ee80 100644
--- a/src/descriptors.h
+++ b/src/descriptors.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTORS_H_
 #define _DESCRIPTORS_H_
 
diff --git a/src/descriptors/akaze/descriptor_akaze.cpp b/src/descriptors/akaze/descriptor_akaze.cpp
index db9bdc6d5f44afd301f83d732976706e0af66546..7d7394d6d65907ef6d79565346e77726c9ba000f 100644
--- a/src/descriptors/akaze/descriptor_akaze.cpp
+++ b/src/descriptors/akaze/descriptor_akaze.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_akaze.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/akaze/descriptor_akaze.h b/src/descriptors/akaze/descriptor_akaze.h
index d01dc79f5447c839e7a6ef55aa7b52939ad17242..6690627be081d3054004410ed47c5177e2a228f7 100644
--- a/src/descriptors/akaze/descriptor_akaze.h
+++ b/src/descriptors/akaze/descriptor_akaze.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_AKAZE_H_
 #define _DESCRIPTOR_AKAZE_H_
 
diff --git a/src/descriptors/akaze/descriptor_akaze_load_yaml.cpp b/src/descriptors/akaze/descriptor_akaze_load_yaml.cpp
index 918a983cc03c892daa601dafcd3e335d2a728b8f..388ff14fbeaeea791939adf710f1ed70e7e9007f 100644
--- a/src/descriptors/akaze/descriptor_akaze_load_yaml.cpp
+++ b/src/descriptors/akaze/descriptor_akaze_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_akaze.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/brief/descriptor_brief.cpp b/src/descriptors/brief/descriptor_brief.cpp
index d19b78f3827dc19fdba1f145cf639746d5b72107..a7fbc7c7a6a29fee171795a26118ed5f0ae4599c 100644
--- a/src/descriptors/brief/descriptor_brief.cpp
+++ b/src/descriptors/brief/descriptor_brief.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_brief.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/brief/descriptor_brief.h b/src/descriptors/brief/descriptor_brief.h
index 19e21d35540000cbf1102336ed6766f14e099464..dfcd7e22b44735382ad444f945a97f428a339952 100644
--- a/src/descriptors/brief/descriptor_brief.h
+++ b/src/descriptors/brief/descriptor_brief.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_BRIEF_H_
 #define _DESCRIPTOR_BRIEF_H_
 
diff --git a/src/descriptors/brief/descriptor_brief_load_yaml.cpp b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
index a27e309e47a2149855e842a57eed3d5e68d99e6f..5d6011143cb6304be787344abd307da6651b8f00 100644
--- a/src/descriptors/brief/descriptor_brief_load_yaml.cpp
+++ b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_brief.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/brisk/descriptor_brisk.cpp b/src/descriptors/brisk/descriptor_brisk.cpp
index 55c9f5e6e2a3f1b2ace9d08d70b1f4b4bbd1be1d..c65549700ce1fc9dded56512ba43d0a485f45fd2 100644
--- a/src/descriptors/brisk/descriptor_brisk.cpp
+++ b/src/descriptors/brisk/descriptor_brisk.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_brisk.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/brisk/descriptor_brisk.h b/src/descriptors/brisk/descriptor_brisk.h
index c92c8e93b8fd5113cdcea0c7e31c4811c244a66e..71b7143f74cf43256ca58440f53c0af2fc4a6c6d 100644
--- a/src/descriptors/brisk/descriptor_brisk.h
+++ b/src/descriptors/brisk/descriptor_brisk.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_BRISK_H_
 #define _DESCRIPTOR_BRISK_H_
 
diff --git a/src/descriptors/brisk/descriptor_brisk_load_yaml.cpp b/src/descriptors/brisk/descriptor_brisk_load_yaml.cpp
index a23428321b586b80980c9fd1f8a26f160556fa4a..6165bfa533379d14adfd44874913254f0d75a1de 100644
--- a/src/descriptors/brisk/descriptor_brisk_load_yaml.cpp
+++ b/src/descriptors/brisk/descriptor_brisk_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_brisk.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/daisy/descriptor_daisy.cpp b/src/descriptors/daisy/descriptor_daisy.cpp
index 788b0fe2106e855ef6534224cc50da2f427ab830..14f9ad7bd428fbbbbfe7de330be8a3743ed98501 100644
--- a/src/descriptors/daisy/descriptor_daisy.cpp
+++ b/src/descriptors/daisy/descriptor_daisy.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_daisy.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/daisy/descriptor_daisy.h b/src/descriptors/daisy/descriptor_daisy.h
index 193ed2b766178d628591cc987987aa4ac748ce50..46d17844cee57ba7fbb4bf87e60d35766708eca2 100644
--- a/src/descriptors/daisy/descriptor_daisy.h
+++ b/src/descriptors/daisy/descriptor_daisy.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_DAISY_H_
 #define _DESCRIPTOR_DAISY_H_
 
diff --git a/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp b/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
index b449fcf956f4b87ce6fb0ff7a8f29df5aff4b174..01555c154af1f59df7aa4c3e1e8e38241af794d9 100644
--- a/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
+++ b/src/descriptors/daisy/descriptor_daisy_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_daisy.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/descriptor_base.cpp b/src/descriptors/descriptor_base.cpp
index 1f76d5a50f0787b8acb87fd83fa6c6c317bd6235..b63f75855b2999b08782dcdca7344dfc03612a5b 100644
--- a/src/descriptors/descriptor_base.cpp
+++ b/src/descriptors/descriptor_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_base.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/descriptor_base.h b/src/descriptors/descriptor_base.h
index 7d0c6fdf7edc6b93634e6758d0cc81b8d84eb99e..252e818da2bde36d3505cff24c7d12f50e2d3b74 100644
--- a/src/descriptors/descriptor_base.h
+++ b/src/descriptors/descriptor_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_BASE_H_
 #define _DESCRIPTOR_BASE_H_
 
diff --git a/src/descriptors/descriptor_factory.h b/src/descriptors/descriptor_factory.h
index c2f15532dccad384433b0dfd7bfc650e3dcd2caa..127ec0e6a98bd1b022f19abbb87f50f2c4bffa64 100644
--- a/src/descriptors/descriptor_factory.h
+++ b/src/descriptors/descriptor_factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_FACTORY_H_
 #define _DESCRIPTOR_FACTORY_H_
 
diff --git a/src/descriptors/freak/descriptor_freak.cpp b/src/descriptors/freak/descriptor_freak.cpp
index 7a93b418c61399a8a80f2a98088ce11b8f55e023..8ddb819c60601da01df1ace0e3d9f15230bb0d56 100644
--- a/src/descriptors/freak/descriptor_freak.cpp
+++ b/src/descriptors/freak/descriptor_freak.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_freak.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/freak/descriptor_freak.h b/src/descriptors/freak/descriptor_freak.h
index 516d015685471277aefd207a4e87ba71e8ed8403..2820665af710661e60f68d494be5b703db3bebff 100644
--- a/src/descriptors/freak/descriptor_freak.h
+++ b/src/descriptors/freak/descriptor_freak.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_FREAK_H_
 #define _DESCRIPTOR_FREAK_H_
 
diff --git a/src/descriptors/freak/descriptor_freak_load_yaml.cpp b/src/descriptors/freak/descriptor_freak_load_yaml.cpp
index 35c5cb8a1470f96e75afc52030f3151671d6087c..78fe46fa5dd7171b91f9cb4c33d49fe96f9b3e40 100644
--- a/src/descriptors/freak/descriptor_freak_load_yaml.cpp
+++ b/src/descriptors/freak/descriptor_freak_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_freak.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/kaze/descriptor_kaze.cpp b/src/descriptors/kaze/descriptor_kaze.cpp
index 2cd80cba238a9efd120d0efa8ffd81237cbb6f5c..59b01def1c28eb58ad438bba2eeb964513a72555 100644
--- a/src/descriptors/kaze/descriptor_kaze.cpp
+++ b/src/descriptors/kaze/descriptor_kaze.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_kaze.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/kaze/descriptor_kaze.h b/src/descriptors/kaze/descriptor_kaze.h
index d3037565044e619e555404c0303709f9cf872146..2446e82d99696d20dab1dc2a87daed68e604569b 100644
--- a/src/descriptors/kaze/descriptor_kaze.h
+++ b/src/descriptors/kaze/descriptor_kaze.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_KAZE_H_
 #define _DESCRIPTOR_KAZE_H_
 
diff --git a/src/descriptors/kaze/descriptor_kaze_load_yaml.cpp b/src/descriptors/kaze/descriptor_kaze_load_yaml.cpp
index 29c12af3f0ec22ad7a525f2756d23610f330a1c9..37edc2d0b92dc325e1adfec6c231dcca55291dbe 100644
--- a/src/descriptors/kaze/descriptor_kaze_load_yaml.cpp
+++ b/src/descriptors/kaze/descriptor_kaze_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_kaze.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/latch/descriptor_latch.cpp b/src/descriptors/latch/descriptor_latch.cpp
index bfa0cce083d14baef6dea719b5fd9267a13136d5..c3d76a870e58dd64ad9d8d0432bd19c8e332198c 100644
--- a/src/descriptors/latch/descriptor_latch.cpp
+++ b/src/descriptors/latch/descriptor_latch.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_latch.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/latch/descriptor_latch.h b/src/descriptors/latch/descriptor_latch.h
index 780ae5bb8dc755a8ecb3c84b254014b4a84ccf46..15a0156354fdd3eb6a9ea7a7c02f15c9fe9201d9 100644
--- a/src/descriptors/latch/descriptor_latch.h
+++ b/src/descriptors/latch/descriptor_latch.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_LATCH_H_
 #define _DESCRIPTOR_LATCH_H_
 
diff --git a/src/descriptors/latch/descriptor_latch_load_yaml.cpp b/src/descriptors/latch/descriptor_latch_load_yaml.cpp
index 940981bdba2045a67abbe9f89ea81d470dedbbff..8c17c8822f931d4af1c17ccf8eb39759db8fefb4 100644
--- a/src/descriptors/latch/descriptor_latch_load_yaml.cpp
+++ b/src/descriptors/latch/descriptor_latch_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_latch.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/lucid/descriptor_lucid.cpp b/src/descriptors/lucid/descriptor_lucid.cpp
index 42bbd7a1dc453adaf19b1b9712477ef6c062f7d6..74df3d30032979429f4c684a42bdddc03122900f 100644
--- a/src/descriptors/lucid/descriptor_lucid.cpp
+++ b/src/descriptors/lucid/descriptor_lucid.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_lucid.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/lucid/descriptor_lucid.h b/src/descriptors/lucid/descriptor_lucid.h
index db43b2544bec16be64579807f8eff658c0321eeb..9d7b8afbeefd21cb444047df736d61e570c64b0d 100644
--- a/src/descriptors/lucid/descriptor_lucid.h
+++ b/src/descriptors/lucid/descriptor_lucid.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_LUCID_H_
 #define _DESCRIPTOR_LUCID_H_
 
diff --git a/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp b/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
index 3e2d9a9a3df28895d196cd156ed34d792032b04c..6621abe66000f48ef89b12e57ff5e4ed1a02215a 100644
--- a/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
+++ b/src/descriptors/lucid/descriptor_lucid_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_lucid.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/orb/descriptor_orb.cpp b/src/descriptors/orb/descriptor_orb.cpp
index 88d2552e5745281e4fc799dc7401eaa0b1ac8c51..a5325aace43e28f632ccd1db0c6b6aff978a2598 100644
--- a/src/descriptors/orb/descriptor_orb.cpp
+++ b/src/descriptors/orb/descriptor_orb.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_orb.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/orb/descriptor_orb.h b/src/descriptors/orb/descriptor_orb.h
index c01e35e1e6262b3a38b7bb442c915c7ef8d1d4fb..185d1c22ad2a1320a6e140c9aa13b268a224ed7d 100644
--- a/src/descriptors/orb/descriptor_orb.h
+++ b/src/descriptors/orb/descriptor_orb.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_ORB_H_
 #define _DESCRIPTOR_ORB_H_
 
diff --git a/src/descriptors/orb/descriptor_orb_load_yaml.cpp b/src/descriptors/orb/descriptor_orb_load_yaml.cpp
index 9567f75ab269dbbef67ec3a8e55a7a5e38a31ddc..62d33a85ccfa2f7d80f5bd87484c59d2d974a61c 100644
--- a/src/descriptors/orb/descriptor_orb_load_yaml.cpp
+++ b/src/descriptors/orb/descriptor_orb_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_orb.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/sift/descriptor_sift.cpp b/src/descriptors/sift/descriptor_sift.cpp
index 905fc58832237f3b46fb9f99d9bf498652b41c80..2caee2a796e672f9698de4e2c7699e549b68586f 100644
--- a/src/descriptors/sift/descriptor_sift.cpp
+++ b/src/descriptors/sift/descriptor_sift.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_sift.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/sift/descriptor_sift.h b/src/descriptors/sift/descriptor_sift.h
index ea69e58fad574d7acb4224f40d5ef375aa8c5fe3..c608b3c23213d21bbb6c79a4064cba488521160c 100644
--- a/src/descriptors/sift/descriptor_sift.h
+++ b/src/descriptors/sift/descriptor_sift.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_SIFT_H_
 #define _DESCRIPTOR_SIFT_H_
 
diff --git a/src/descriptors/sift/descriptor_sift_load_yaml.cpp b/src/descriptors/sift/descriptor_sift_load_yaml.cpp
index 5ef1577610c37422339507120aec71abb2eed40b..f574d5e72a6dcf263ad23fc765b197757f732e79 100644
--- a/src/descriptors/sift/descriptor_sift_load_yaml.cpp
+++ b/src/descriptors/sift/descriptor_sift_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_sift.h"
 
 #ifdef USING_YAML
diff --git a/src/descriptors/surf/descriptor_surf.cpp b/src/descriptors/surf/descriptor_surf.cpp
index 6e7d7a462c065bd0f17b09d4de6345718db77884..e632fa0653e7ec07a95aa515696e8de2945091fa 100644
--- a/src/descriptors/surf/descriptor_surf.cpp
+++ b/src/descriptors/surf/descriptor_surf.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_surf.h"
 
 namespace vision_utils {
diff --git a/src/descriptors/surf/descriptor_surf.h b/src/descriptors/surf/descriptor_surf.h
index f631e07506100b513c32072f65c755d42bc4ded2..b5011a60dd1f600e5261d0546d5d5987a2cbd1f8 100644
--- a/src/descriptors/surf/descriptor_surf.h
+++ b/src/descriptors/surf/descriptor_surf.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DESCRIPTOR_SURF_H_
 #define _DESCRIPTOR_SURF_H_
 
diff --git a/src/descriptors/surf/descriptor_surf_load_yaml.cpp b/src/descriptors/surf/descriptor_surf_load_yaml.cpp
index 868c8b356b2eee459fd98558348eea847d5c2ec0..b9858f18ba11f3ce5064b4aa1195455e9f779d77 100644
--- a/src/descriptors/surf/descriptor_surf_load_yaml.cpp
+++ b/src/descriptors/surf/descriptor_surf_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "descriptor_surf.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors.h b/src/detectors.h
index 817d316853a1cd928f795d33ea702ee27d4f059e..fd5560560a1e46fc5273cd0755759fb8775fdf25 100644
--- a/src/detectors.h
+++ b/src/detectors.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTORS_H_
 #define _DETECTORS_H_
 
diff --git a/src/detectors/agast/detector_agast.cpp b/src/detectors/agast/detector_agast.cpp
index 64d3878dbc287a07e56106d8eeb01ee250f700fb..5c9be3134f8e7f06d88b2140be4542cc8d593248 100644
--- a/src/detectors/agast/detector_agast.cpp
+++ b/src/detectors/agast/detector_agast.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_agast.h"
 
 namespace vision_utils {
diff --git a/src/detectors/agast/detector_agast.h b/src/detectors/agast/detector_agast.h
index 75cb15b66a85901ac6e29e14ea5a8028c2a1a76d..56dee830edef0df5cfde5adc4274e61aa081a67e 100644
--- a/src/detectors/agast/detector_agast.h
+++ b/src/detectors/agast/detector_agast.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_AGAST_H_
 #define _DETECTOR_AGAST_H_
 
diff --git a/src/detectors/agast/detector_agast_load_yaml.cpp b/src/detectors/agast/detector_agast_load_yaml.cpp
index 744defcd854bae76cce16ccb4dbfdea265d7c74b..7dfd39efebf4b56afb580631d040945cb837b678 100644
--- a/src/detectors/agast/detector_agast_load_yaml.cpp
+++ b/src/detectors/agast/detector_agast_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_agast.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/akaze/detector_akaze.cpp b/src/detectors/akaze/detector_akaze.cpp
index 4dcb3a9dc7c00826e25250ce1e09bc32c001d4be..04ba98f7898111420cbf5715fcb7137805c53f0b 100644
--- a/src/detectors/akaze/detector_akaze.cpp
+++ b/src/detectors/akaze/detector_akaze.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_akaze.h"
 
 namespace vision_utils {
diff --git a/src/detectors/akaze/detector_akaze.h b/src/detectors/akaze/detector_akaze.h
index 3a69ba770b16e517ef749bd842c4b63c8ecc1e3d..b46411f703c75a9687c9e611d4ee5ae7d6d3f8df 100644
--- a/src/detectors/akaze/detector_akaze.h
+++ b/src/detectors/akaze/detector_akaze.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_AKAZE_H_
 #define _DETECTOR_AKAZE_H_
 
diff --git a/src/detectors/akaze/detector_akaze_load_yaml.cpp b/src/detectors/akaze/detector_akaze_load_yaml.cpp
index 87415c5d7bf38bb491bc3d843b5f9fd4956d77b7..f639c10a674efe0aa704058f9bcbdfef3e559198 100644
--- a/src/detectors/akaze/detector_akaze_load_yaml.cpp
+++ b/src/detectors/akaze/detector_akaze_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_akaze.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/brisk/detector_brisk.cpp b/src/detectors/brisk/detector_brisk.cpp
index 8ae9d5332ab593c946ecd148c565d6f1c4211c92..b05028b4d06b5598461c527935f9a5c1aca03fc1 100644
--- a/src/detectors/brisk/detector_brisk.cpp
+++ b/src/detectors/brisk/detector_brisk.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_brisk.h"
 
 namespace vision_utils {
diff --git a/src/detectors/brisk/detector_brisk.h b/src/detectors/brisk/detector_brisk.h
index f3ddd9417c2f12aff0039f576a174d0043f6389f..1233bfe4985fbd23e678fe0c27f8acf142b706a9 100644
--- a/src/detectors/brisk/detector_brisk.h
+++ b/src/detectors/brisk/detector_brisk.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_BRISK_H_
 #define _DETECTOR_BRISK_H_
 
diff --git a/src/detectors/brisk/detector_brisk_load_yaml.cpp b/src/detectors/brisk/detector_brisk_load_yaml.cpp
index 510adc0f81e49e5afb2e4ae5709da8777e3e4c99..67d640d6d36ffb05cf8a726ef15244d822ce33b4 100644
--- a/src/detectors/brisk/detector_brisk_load_yaml.cpp
+++ b/src/detectors/brisk/detector_brisk_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_brisk.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/detector_base.cpp b/src/detectors/detector_base.cpp
index acc93b82d969b48967bc05e1894518cff1a5aa96..3841d19014122f01cacc399243e061b340fc835e 100644
--- a/src/detectors/detector_base.cpp
+++ b/src/detectors/detector_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_base.h"
 
 namespace vision_utils {
diff --git a/src/detectors/detector_base.h b/src/detectors/detector_base.h
index 3c941fd32b40c8447222035aeecfebb607b00c8c..5b5ef9cb80a6e53903f2df434895c50b903eb6e9 100644
--- a/src/detectors/detector_base.h
+++ b/src/detectors/detector_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_BASE_H_
 #define _DETECTOR_BASE_H_
 
diff --git a/src/detectors/detector_factory.h b/src/detectors/detector_factory.h
index d4fa93a4739adaa30c2ca825eebf9c71ff1374b2..150a7fcb70946df2571b801ac001db33f00c9843 100644
--- a/src/detectors/detector_factory.h
+++ b/src/detectors/detector_factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_FACTORY_H_
 #define _DETECTOR_FACTORY_H_
 
diff --git a/src/detectors/fast/detector_fast.cpp b/src/detectors/fast/detector_fast.cpp
index 4c3bf5d1e21a449e2d06092d0e0ba49f1c82834b..7a224d70717a4a204daff3b02599abc7ebb39369 100644
--- a/src/detectors/fast/detector_fast.cpp
+++ b/src/detectors/fast/detector_fast.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_fast.h"
 
 namespace vision_utils {
diff --git a/src/detectors/fast/detector_fast.h b/src/detectors/fast/detector_fast.h
index c3eb584df85917dcca15c603f4fd6d606f71f530..f3ccac14d174da481bbb8b1b60b5ab5d59edc55d 100644
--- a/src/detectors/fast/detector_fast.h
+++ b/src/detectors/fast/detector_fast.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_FAST_H_
 #define _DETECTOR_FAST_H_
 
diff --git a/src/detectors/fast/detector_fast_load_yaml.cpp b/src/detectors/fast/detector_fast_load_yaml.cpp
index 0d379569d085d1496aa66220e1360760acc8f415..435619b8baf4af35988d89c66f5ff14e0d4a12b8 100644
--- a/src/detectors/fast/detector_fast_load_yaml.cpp
+++ b/src/detectors/fast/detector_fast_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_fast.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/gftt/detector_gftt.cpp b/src/detectors/gftt/detector_gftt.cpp
index 3528ce415f76054379d622346f4686942dc2be4d..3063cdfa346e82d49a3cb87872c51526098be9c6 100644
--- a/src/detectors/gftt/detector_gftt.cpp
+++ b/src/detectors/gftt/detector_gftt.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_gftt.h"
 
 namespace vision_utils {
diff --git a/src/detectors/gftt/detector_gftt.h b/src/detectors/gftt/detector_gftt.h
index 78ce2152ca748ce389f62fae18146738d7911ecd..fddb12823251d982aea2189b3381d446ac4f0102 100644
--- a/src/detectors/gftt/detector_gftt.h
+++ b/src/detectors/gftt/detector_gftt.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_GFTT_H_
 #define _DETECTOR_GFTT_H_
 
diff --git a/src/detectors/gftt/detector_gftt_load_yaml.cpp b/src/detectors/gftt/detector_gftt_load_yaml.cpp
index 30b0586996cf6ee9146da60a6bcbfb85e9ae0b43..878791dd73e23d38eda0255b60366c7453bbe500 100644
--- a/src/detectors/gftt/detector_gftt_load_yaml.cpp
+++ b/src/detectors/gftt/detector_gftt_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_gftt.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/harris/detector_harris.cpp b/src/detectors/harris/detector_harris.cpp
index 91a23fb6fc52c7beb98fb5481c06e2090c234671..8aeeab6193381d16f4c6b68fc8572ee47a973479 100644
--- a/src/detectors/harris/detector_harris.cpp
+++ b/src/detectors/harris/detector_harris.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_harris.h"
 
 namespace vision_utils {
diff --git a/src/detectors/harris/detector_harris.h b/src/detectors/harris/detector_harris.h
index 4dd19cde4e3f84c81cd7e6385f3d6dfd9ad6a191..922a6c9278c3118260d1da174cb101caead55f88 100644
--- a/src/detectors/harris/detector_harris.h
+++ b/src/detectors/harris/detector_harris.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_HARRIS_H_
 #define _DETECTOR_HARRIS_H_
 
diff --git a/src/detectors/harris/detector_harris_load_yaml.cpp b/src/detectors/harris/detector_harris_load_yaml.cpp
index 0952147b4c8c5c262eab60e1a2716245bff3d18d..d690f11f1a717b364837910574a5ac89bd524d25 100644
--- a/src/detectors/harris/detector_harris_load_yaml.cpp
+++ b/src/detectors/harris/detector_harris_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_harris.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/kaze/detector_kaze.cpp b/src/detectors/kaze/detector_kaze.cpp
index 69364c648e4af9d1e160377879968b2d2f080200..ed39f1de8f6db9a4c52eef2598ffe7caf9586d28 100644
--- a/src/detectors/kaze/detector_kaze.cpp
+++ b/src/detectors/kaze/detector_kaze.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_kaze.h"
 
 namespace vision_utils {
diff --git a/src/detectors/kaze/detector_kaze.h b/src/detectors/kaze/detector_kaze.h
index 0615dbe5d94dcc882dcdf60abc38b7508dae5390..4db072857d88bf77dbb93908e56d2fb56bc2c047 100644
--- a/src/detectors/kaze/detector_kaze.h
+++ b/src/detectors/kaze/detector_kaze.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_KAZE_H_
 #define _DETECTOR_KAZE_H_
 
diff --git a/src/detectors/kaze/detector_kaze_load_yaml.cpp b/src/detectors/kaze/detector_kaze_load_yaml.cpp
index 687910ac5a249252b6eac1dc0a9cb6bf4b96e4ef..e965fde369ebaf2bc00d9cb109d7d8d8f4debeea 100644
--- a/src/detectors/kaze/detector_kaze_load_yaml.cpp
+++ b/src/detectors/kaze/detector_kaze_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_kaze.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/mser/detector_mser.cpp b/src/detectors/mser/detector_mser.cpp
index 43e806dc3d55149f6343c5cc4c764b2d74a7c4f1..375190228bf4b135fbeff6aff79630538b3aba14 100644
--- a/src/detectors/mser/detector_mser.cpp
+++ b/src/detectors/mser/detector_mser.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_mser.h"
 
 namespace vision_utils {
diff --git a/src/detectors/mser/detector_mser.h b/src/detectors/mser/detector_mser.h
index 16b4a856d9919fa0972837f93de0b2a7f9a3a905..6a32e9a202708a1b65841439b62a3630de3bb4a1 100644
--- a/src/detectors/mser/detector_mser.h
+++ b/src/detectors/mser/detector_mser.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_MSER_H_
 #define _DETECTOR_MSER_H_
 
diff --git a/src/detectors/mser/detector_mser_load_yaml.cpp b/src/detectors/mser/detector_mser_load_yaml.cpp
index 6f6a892cf231dca57c60daa215c6df31997075bd..2366ef7514eee0073ea5ccaf6fdae3fc540377b5 100644
--- a/src/detectors/mser/detector_mser_load_yaml.cpp
+++ b/src/detectors/mser/detector_mser_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_mser.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/orb/detector_orb.cpp b/src/detectors/orb/detector_orb.cpp
index 6d304ee6d16f3ee949446433e2f323bf3cd80686..7c529ca9706d3cf42aa387d2ec7ac24bc64d01a2 100644
--- a/src/detectors/orb/detector_orb.cpp
+++ b/src/detectors/orb/detector_orb.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_orb.h"
 
 namespace vision_utils {
diff --git a/src/detectors/orb/detector_orb.h b/src/detectors/orb/detector_orb.h
index e287b476166582a21325137ad516a164f586b23f..6306374673e6f56e5366331e6ceb92e383359c01 100644
--- a/src/detectors/orb/detector_orb.h
+++ b/src/detectors/orb/detector_orb.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_ORB_H_
 #define _DETECTOR_ORB_H_
 
diff --git a/src/detectors/orb/detector_orb_load_yaml.cpp b/src/detectors/orb/detector_orb_load_yaml.cpp
index f8cd2dc9006ba4e471172fbc4a06cb875837f8c3..2ac85f20caf8f00ba98f9c1130cdf9eefdee5993 100644
--- a/src/detectors/orb/detector_orb_load_yaml.cpp
+++ b/src/detectors/orb/detector_orb_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_orb.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/quickharris/detector_quickharris.cpp b/src/detectors/quickharris/detector_quickharris.cpp
index 7ec4a885f9372ff7db2a215e55722af67dd5c22c..c82fa6b5c3ccd6e6f27735cdab4c292e00a154a3 100644
--- a/src/detectors/quickharris/detector_quickharris.cpp
+++ b/src/detectors/quickharris/detector_quickharris.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "../quickharris/detector_quickharris.h"
 
 namespace vision_utils {
diff --git a/src/detectors/quickharris/detector_quickharris.h b/src/detectors/quickharris/detector_quickharris.h
index 58aa08e64fdbf5db770773ebb3727e0da5d17714..ef8c40c3cc3450ba80f994f0e117cee807a9a24c 100644
--- a/src/detectors/quickharris/detector_quickharris.h
+++ b/src/detectors/quickharris/detector_quickharris.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file Based on QuickHarrisDetector in RTSLAM project from Joan Solà
  */
diff --git a/src/detectors/quickharris/detector_quickharris_load_yaml.cpp b/src/detectors/quickharris/detector_quickharris_load_yaml.cpp
index 0eaba773f9a2fff6c6fbdfc57a0acf99d652e0c3..3612903d3509cfe1e48dabf0792ea3130788e82e 100644
--- a/src/detectors/quickharris/detector_quickharris_load_yaml.cpp
+++ b/src/detectors/quickharris/detector_quickharris_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "../quickharris/detector_quickharris.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/sbd/detector_sbd.cpp b/src/detectors/sbd/detector_sbd.cpp
index 52c5a69c8673423ea42104e36803c6e3aac956eb..b35ea65f8b50941114bc9290e1c6d6be60053457 100644
--- a/src/detectors/sbd/detector_sbd.cpp
+++ b/src/detectors/sbd/detector_sbd.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_sbd.h"
 
 namespace vision_utils {
diff --git a/src/detectors/sbd/detector_sbd.h b/src/detectors/sbd/detector_sbd.h
index 82730920ce29392055838d1f972fc54a47196f4c..e270137f088e160c416a5c281eb9587bf4203408 100644
--- a/src/detectors/sbd/detector_sbd.h
+++ b/src/detectors/sbd/detector_sbd.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_SBD_H_
 #define _DETECTOR_SBD_H_
 
diff --git a/src/detectors/sbd/detector_sbd_load_yaml.cpp b/src/detectors/sbd/detector_sbd_load_yaml.cpp
index 8a8546ae00752e3c17cfa0501989d08f0805bf89..3d79e7121aa61c406a224033ff3fa1f76e7a015b 100644
--- a/src/detectors/sbd/detector_sbd_load_yaml.cpp
+++ b/src/detectors/sbd/detector_sbd_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_sbd.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/sift/detector_sift.cpp b/src/detectors/sift/detector_sift.cpp
index 0fe1226ba278ca4cc255538fb38d9678300a0df5..6c325359159a00c4ea8cfda1edcb10b36314f568 100644
--- a/src/detectors/sift/detector_sift.cpp
+++ b/src/detectors/sift/detector_sift.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_sift.h"
 
 namespace vision_utils {
diff --git a/src/detectors/sift/detector_sift.h b/src/detectors/sift/detector_sift.h
index fefc59a42022200baa948fecf8415e8103e5300b..8c2b48451a32e2ecb3f6d470647a2648a9da3a5f 100644
--- a/src/detectors/sift/detector_sift.h
+++ b/src/detectors/sift/detector_sift.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_SIFT_H_
 #define _DETECTOR_SIFT_H_
 
diff --git a/src/detectors/sift/detector_sift_load_yaml.cpp b/src/detectors/sift/detector_sift_load_yaml.cpp
index feb4cf51e4d218564e4086cdad9069beb2efd476..9dbcc1f8ab8131910ad487cf260ce5a601e962fa 100644
--- a/src/detectors/sift/detector_sift_load_yaml.cpp
+++ b/src/detectors/sift/detector_sift_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_sift.h"
 
 #ifdef USING_YAML
diff --git a/src/detectors/surf/detector_surf.cpp b/src/detectors/surf/detector_surf.cpp
index bf157e04fe42602420e89a10825e50e9040ec284..cbe32715d9a000cd1261c8dd4527cf286f6ccf86 100644
--- a/src/detectors/surf/detector_surf.cpp
+++ b/src/detectors/surf/detector_surf.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_surf.h"
 
 namespace vision_utils {
diff --git a/src/detectors/surf/detector_surf.h b/src/detectors/surf/detector_surf.h
index 84cbca42f162643a246ae4ccf94b65397c7de7dc..9732e407c4e8dd84e853e8cde8a3a55ce7f7a8f9 100644
--- a/src/detectors/surf/detector_surf.h
+++ b/src/detectors/surf/detector_surf.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _DETECTOR_SURF_H_
 #define _DETECTOR_SURF_H_
 
diff --git a/src/detectors/surf/detector_surf_load_yaml.cpp b/src/detectors/surf/detector_surf_load_yaml.cpp
index 1944efb8e5a1516a143a81ea0d0bef59238abb44..680d6f594b5c70da689f2cbf7e64ceb4fbd1580a 100644
--- a/src/detectors/surf/detector_surf_load_yaml.cpp
+++ b/src/detectors/surf/detector_surf_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "detector_surf.h"
 
 #ifdef USING_YAML
diff --git a/src/examples/fundamental_matrix.cpp b/src/examples/fundamental_matrix.cpp
index 3f44500476a9d25e5586b175be7ef6a14f01a137..72c04a4ad390f4a8d570345e9670abed0858fb6f 100644
--- a/src/examples/fundamental_matrix.cpp
+++ b/src/examples/fundamental_matrix.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * test_opencv.cpp
  *
diff --git a/src/examples/test_algorithm_activesearch.cpp b/src/examples/test_algorithm_activesearch.cpp
index 102bb655cbde41c7fea445a64abc609328054e48..42e3d238ba557a24d059d6199345fdc75621394a 100644
--- a/src/examples/test_algorithm_activesearch.cpp
+++ b/src/examples/test_algorithm_activesearch.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_algorithm_anms.cpp b/src/examples/test_algorithm_anms.cpp
index 81d350efae792d0e3f98b547644d82b6d0ccebbe..4b7759983885b295c896939496a80461318831db 100644
--- a/src/examples/test_algorithm_anms.cpp
+++ b/src/examples/test_algorithm_anms.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_algorithm_opticalflowpyrlk.cpp b/src/examples/test_algorithm_opticalflowpyrlk.cpp
index c0cf4b3d183a1358a13673b78ee7a9cdf7c14bf2..bd5952c729c2a40bb5003c945d4ff4a22b12421e 100644
--- a/src/examples/test_algorithm_opticalflowpyrlk.cpp
+++ b/src/examples/test_algorithm_opticalflowpyrlk.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_algorithm_trackfeatures.cpp b/src/examples/test_algorithm_trackfeatures.cpp
index 6040b5c1e652ecf9ef31d7edd83e85d4de91329f..719291f24883a20e1358f12f45b688403f5eaef2 100644
--- a/src/examples/test_algorithm_trackfeatures.cpp
+++ b/src/examples/test_algorithm_trackfeatures.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index 532b426149c77bbb2d46ec9eadc1f8acb78b4777..5e033be4dae2fdde3f21c96d98ac04634702d68c 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_detector.cpp b/src/examples/test_detector.cpp
index f90914330badde3c955b3ee0a649501943f05c43..d8b02eb03c49ea74ef373debf5a23edc8b6545cf 100644
--- a/src/examples/test_detector.cpp
+++ b/src/examples/test_detector.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_factories.cpp b/src/examples/test_factories.cpp
index ba364f7eda735a98a26903cbcf756e434fb20ad3..8842b395c37adab5c201042da3196877d94c6e48 100644
--- a/src/examples/test_factories.cpp
+++ b/src/examples/test_factories.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_matcher.cpp b/src/examples/test_matcher.cpp
index 3b6cb23fffd027c4bd04af9293020c98b53d55a7..90e4c1f61e5e97987e093241d7277e9ca98309d0 100644
--- a/src/examples/test_matcher.cpp
+++ b/src/examples/test_matcher.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/examples/test_sensor.cpp b/src/examples/test_sensor.cpp
index 3fa82af5388144cd88af4da67029365aa4fb0fb9..9b8c2e592e23f3f2007aaa6b95deb18d0bdc2a2f 100644
--- a/src/examples/test_sensor.cpp
+++ b/src/examples/test_sensor.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <iomanip>
 #include <cstdlib>
diff --git a/src/factory.h b/src/factory.h
index 92f552e478d14001af2808c5acabb8d4a8710bd8..d26b31455bbe308b5c2d6d2e50cf21e1e05dfdcd 100644
--- a/src/factory.h
+++ b/src/factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _FACTORY_H_
 #define _FACTORY_H_
 
diff --git a/src/matchers.h b/src/matchers.h
index 268d950cd759a37be04152851122332d40baaf99..089c163eb62bbdd64570d2746babf61a81965998 100644
--- a/src/matchers.h
+++ b/src/matchers.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHERS_H_
 #define _MATCHERS_H_
 
diff --git a/src/matchers/bruteforce/matcher_bruteforce.cpp b/src/matchers/bruteforce/matcher_bruteforce.cpp
index bb8db71a844b9559abdffe8d6ec67b207cd20be8..9b91f4a132780bab1b23f834168d07a710ba13e3 100644
--- a/src/matchers/bruteforce/matcher_bruteforce.cpp
+++ b/src/matchers/bruteforce/matcher_bruteforce.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce.h"
 
 namespace vision_utils {
diff --git a/src/matchers/bruteforce/matcher_bruteforce.h b/src/matchers/bruteforce/matcher_bruteforce.h
index 3dccf040e25a4b6bee8b5991c24b14f9829fea78..37ab53a52e07eeca5286141970c61da7cec76868 100644
--- a/src/matchers/bruteforce/matcher_bruteforce.h
+++ b/src/matchers/bruteforce/matcher_bruteforce.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_BRUTEFORCE_H_
 #define _MATCHER_BRUTEFORCE_H_
 
diff --git a/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp b/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
index a43f4c663f800f5a2b2897e1dd12403332482ccd..0f6caf324f0b964d06ab5a8269a10513e5f1421f 100644
--- a/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
+++ b/src/matchers/bruteforce/matcher_bruteforce_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce.h"
 
 #ifdef USING_YAML
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
index ee0ff07b3269d9306a39bef202ea6abc5c2f7146..553f0297db67b098c6aa676b36c0d2865690325a 100644
--- a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_hamming.h"
 
 namespace vision_utils {
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
index d35eb2d60d496499b2dd2e4999700ca5dca697d9..1b6c8c3ca11c94b150f793efc886e754d0b8705f 100644
--- a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_BRUTEFORCE_HAMMING_H_
 #define _MATCHER_BRUTEFORCE_HAMMING_H_
 
diff --git a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
index a00a2f1fb774332fcc319af0e6a1aa2c43648000..95d798293b5a2383f2a1bdb8e3726e1f7c7d2cbd 100644
--- a/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
+++ b/src/matchers/bruteforce_hamming/matcher_bruteforce_hamming_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_hamming.h"
 
 #ifdef USING_YAML
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
index 132c2a581dcd0dca184b7767f8d7a1e213759af9..84e77e9b8cf10d8540ae561ee033f2585a06e166 100644
--- a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_hamming_2.h"
 
 namespace vision_utils {
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
index 41cc149a56afd839d6bf3e3e88e758963ea166a8..484d24b12f0b4d82ffa62be6264b38802aafb5ef 100644
--- a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_BRUTEFORCE_HAMMING_2_H_
 #define _MATCHER_BRUTEFORCE_HAMMING_2_H_
 
diff --git a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
index de7772cdc3d1b81fa34db2d529dbfed09b193d92..bb7707b1d9173ca6c0bdbd20fc9c0ca302482758 100644
--- a/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
+++ b/src/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_hamming_2.h"
 
 #ifdef USING_YAML
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
index 211b995b038d80e440ff6e3e37803a4e6eb7ee9d..7dfecbbcc90529e7a9e9c2300217dd3ab2f9daf8 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_l1.h"
 
 namespace vision_utils {
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
index 311ba065e9e43d2c62fd42d89802d31a7fe030a2..62813c117eab03c1a6a4fa104d0aebd37c3d5503 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_BRUTEFORCE_L1_H_
 #define _MATCHER_BRUTEFORCE_L1_H_
 
diff --git a/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
index 8098f546130322c05e4b1096f01c722757dd2be2..5fe67476aea53fca692d2707852f9e05d27c99c8 100644
--- a/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
+++ b/src/matchers/bruteforce_l1/matcher_bruteforce_l1_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_bruteforce_l1.h"
 
 #ifdef USING_YAML
diff --git a/src/matchers/flannbased/matcher_flannbased.cpp b/src/matchers/flannbased/matcher_flannbased.cpp
index a7a1834fc67e0c8cfc31ec58babf188a5e359d8a..5b79e23bffe8f0488723a592f874e4d74c297368 100644
--- a/src/matchers/flannbased/matcher_flannbased.cpp
+++ b/src/matchers/flannbased/matcher_flannbased.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_flannbased.h"
 
 namespace vision_utils {
diff --git a/src/matchers/flannbased/matcher_flannbased.h b/src/matchers/flannbased/matcher_flannbased.h
index e2fdea34f2b44e79ae0dbc126e2c76580273b7a9..c5062505701e6ddf53a6b3dff8861803eb1e8e3c 100644
--- a/src/matchers/flannbased/matcher_flannbased.h
+++ b/src/matchers/flannbased/matcher_flannbased.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_FLANNBASED_H_
 #define _MATCHER_FLANNBASED_H_
 
diff --git a/src/matchers/flannbased/matcher_flannbased_load_yaml.cpp b/src/matchers/flannbased/matcher_flannbased_load_yaml.cpp
index 0b71d8801f75d53f04049818beb04556dc349f89..cda3812cbed49f9870d99db5277525047bea122b 100644
--- a/src/matchers/flannbased/matcher_flannbased_load_yaml.cpp
+++ b/src/matchers/flannbased/matcher_flannbased_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_flannbased.h"
 
 #ifdef USING_YAML
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 0f17eb1c5c2126e74b63789d59faf6b32a6244d4..74acb6dd2514a40ba52c0f12bbd45ae50b30aac4 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "matcher_base.h"
 
 // yaml-cpp library
diff --git a/src/matchers/matcher_base.h b/src/matchers/matcher_base.h
index 27d2a0b5d40d0fa4e83c4ad703f7e576344c9689..87714c3368026a01b23e6e0060afeb0e7e6c45e4 100644
--- a/src/matchers/matcher_base.h
+++ b/src/matchers/matcher_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_BASE_H_
 #define _MATCHER_BASE_H_
 
diff --git a/src/matchers/matcher_factory.h b/src/matchers/matcher_factory.h
index 5434e963e5fac2f4b70d4cabfd488155056820b2..19bcf3d79dd8c289e11098a3d050495a3032e8bb 100644
--- a/src/matchers/matcher_factory.h
+++ b/src/matchers/matcher_factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _MATCHER_FACTORY_H_
 #define _MATCHER_FACTORY_H_
 
diff --git a/src/sensors.h b/src/sensors.h
index ac068096d7988ed575f08424383da5fde902166c..82d95b261bff82a7cd3b106d2cda7c692ba66921 100644
--- a/src/sensors.h
+++ b/src/sensors.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _SENSORS_H_
 #define _SENSORS_H_
 
diff --git a/src/sensors/sensor_base.cpp b/src/sensors/sensor_base.cpp
index 52e79f8b31924c7d990680c93eec2eacf1efbbc7..049aed1967593ee9fa5efbea2ab4c281717cff49 100644
--- a/src/sensors/sensor_base.cpp
+++ b/src/sensors/sensor_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "sensor_base.h"
 
 namespace vision_utils {
diff --git a/src/sensors/sensor_base.h b/src/sensors/sensor_base.h
index ee1b8859f56271a10c4b8bb562b9cca67b1158ad..2f870dcc85da7e1a47a415c2a43bcfba4585c34a 100644
--- a/src/sensors/sensor_base.h
+++ b/src/sensors/sensor_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _SENSOR_BASE_H_
 #define _SENSOR_BASE_H_
 
diff --git a/src/sensors/sensor_factory.h b/src/sensors/sensor_factory.h
index 5f1eb4c80f6b15d8b7e6b27dca8a5fd4c164fe0d..c685ffe753bfeaa085913c4313523be74e5a7214 100644
--- a/src/sensors/sensor_factory.h
+++ b/src/sensors/sensor_factory.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _SENSOR_FACTORY_H_
 #define _SENSOR_FACTORY_H_
 
diff --git a/src/sensors/usb_cam/usb_cam.cpp b/src/sensors/usb_cam/usb_cam.cpp
index 1f2cbdf028976cd032007dfcf52d7cc921449953..2cbd9bcc0a84a3c67300cdbc7aee0f549ac18888 100644
--- a/src/sensors/usb_cam/usb_cam.cpp
+++ b/src/sensors/usb_cam/usb_cam.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "usb_cam.h"
 
 namespace vision_utils {
diff --git a/src/sensors/usb_cam/usb_cam.h b/src/sensors/usb_cam/usb_cam.h
index 48935ca67fbafe00393754ba1c375bcd005f0153..f8cee496b3183d7e5d8c9182d560c02c6f034010 100644
--- a/src/sensors/usb_cam/usb_cam.h
+++ b/src/sensors/usb_cam/usb_cam.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _USB_CAM_H_
 #define _USB_CAM_H_
 
diff --git a/src/sensors/usb_cam/usb_cam_load_yaml.cpp b/src/sensors/usb_cam/usb_cam_load_yaml.cpp
index 6656b6a6ad84f4131bcdfcee4ff4586ee19b3cb7..1321a71bbde1926d7f7702759a42beb174980595 100644
--- a/src/sensors/usb_cam/usb_cam_load_yaml.cpp
+++ b/src/sensors/usb_cam/usb_cam_load_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "usb_cam.h"
 #include "../../factory.h"
 
diff --git a/src/test/gtest_algorithm_base.cpp b/src/test/gtest_algorithm_base.cpp
index 5cacb30ac94ea834e8f303d70fcaf879cbf45fdd..cca6b58a81878daffd34f40462d336a9f194ef0a 100644
--- a/src/test/gtest_algorithm_base.cpp
+++ b/src/test/gtest_algorithm_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../algorithms.h"
diff --git a/src/test/gtest_algorithm_residualtrilinearity.cpp b/src/test/gtest_algorithm_residualtrilinearity.cpp
index d2382d1d8ff0cde3c84fd0622dd339c21aabf63b..a05924275187d9784a03914edb6beb2b30750bd3 100644
--- a/src/test/gtest_algorithm_residualtrilinearity.cpp
+++ b/src/test/gtest_algorithm_residualtrilinearity.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 
 // vision utils includes
diff --git a/src/test/gtest_buffer.cpp b/src/test/gtest_buffer.cpp
index b232938cafb76c8ab7c27440a92c298fac5dc2d3..7466dab16f0ec0be1dc5ff31f96bd136a2b15d38 100644
--- a/src/test/gtest_buffer.cpp
+++ b/src/test/gtest_buffer.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../common_class/buffer.h"
diff --git a/src/test/gtest_descriptor_base.cpp b/src/test/gtest_descriptor_base.cpp
index bd9a119819f29e940188375799064d69706d990e..2308a9851fc47c7e3b286e9c97684fb0d251bb63 100644
--- a/src/test/gtest_descriptor_base.cpp
+++ b/src/test/gtest_descriptor_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../descriptors.h"
diff --git a/src/test/gtest_descriptors.cpp b/src/test/gtest_descriptors.cpp
index d1a83b672a9d9b53d5e37a6d09caecebc5144785..4e8b0af30f6239d1a3c02369225b992c0972fb50 100644
--- a/src/test/gtest_descriptors.cpp
+++ b/src/test/gtest_descriptors.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 
 // vision utils includes
diff --git a/src/test/gtest_detector_base.cpp b/src/test/gtest_detector_base.cpp
index a9462519c615f0636a76f0018386af059c0e00f6..8b12df34f2b28291037a030d9c653aca14034132 100644
--- a/src/test/gtest_detector_base.cpp
+++ b/src/test/gtest_detector_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../detectors.h"
diff --git a/src/test/gtest_detectors.cpp b/src/test/gtest_detectors.cpp
index 0e6a0eebc363f591ce430bbe44619f46b026c0b9..e07bef352d6984f143967f2b8bd8742931680326 100644
--- a/src/test/gtest_detectors.cpp
+++ b/src/test/gtest_detectors.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 
 // vision utils includes
diff --git a/src/test/gtest_example.cpp b/src/test/gtest_example.cpp
index d9ea87771436998cd3b114d7636c4b94c483eb50..8e8795e65a63b391879c99de603d3421fb7b5c71 100644
--- a/src/test/gtest_example.cpp
+++ b/src/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 
 TEST(TestTest, DummyTestExample)
diff --git a/src/test/gtest_frame.cpp b/src/test/gtest_frame.cpp
index ba7fa9d37c36cd98c6e7df60ce97cfc7ecc13079..de893734cb59b9e9389f5fca1f6ffa263983fb5b 100644
--- a/src/test/gtest_frame.cpp
+++ b/src/test/gtest_frame.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../common_class/frame.h"
diff --git a/src/test/gtest_matcher_base.cpp b/src/test/gtest_matcher_base.cpp
index 8290a8193c5bb8956121776087344163458f4541..0df0b7f7ff40eaed160ba1736bd6177ba824ba77 100644
--- a/src/test/gtest_matcher_base.cpp
+++ b/src/test/gtest_matcher_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../detectors.h"
diff --git a/src/test/gtest_matchers.cpp b/src/test/gtest_matchers.cpp
index b8920cffc5de20a340db062759daeb11ae504bfb..4553afd2c89e82429af622b8a77d39f5e6302c31 100644
--- a/src/test/gtest_matchers.cpp
+++ b/src/test/gtest_matchers.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../detectors.h"
diff --git a/src/test/gtest_sensor_base.cpp b/src/test/gtest_sensor_base.cpp
index 4ff11f133792fdedbbb1c61505ebc9e3372d0b1f..d1be9ea4da898441da9fb3d4b06a0e54ea481662 100644
--- a/src/test/gtest_sensor_base.cpp
+++ b/src/test/gtest_sensor_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../sensors.h"
diff --git a/src/test/gtest_sensor_usb_cam.cpp b/src/test/gtest_sensor_usb_cam.cpp
index be5ce3a8f83be889129cd83504f4de638c14dc1d..d7d7d27f9ff2f31d3e4ce2c886756afd01a23bb8 100644
--- a/src/test/gtest_sensor_usb_cam.cpp
+++ b/src/test/gtest_sensor_usb_cam.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 #include "../sensors.h"
diff --git a/src/test/gtest_trifocaltensor.cpp b/src/test/gtest_trifocaltensor.cpp
index 682ad79a1a19eaae4571b495e5c5189638becb95..7b07d0a48d12b612ed2ca1af49d6afa64fab20ea 100644
--- a/src/test/gtest_trifocaltensor.cpp
+++ b/src/test/gtest_trifocaltensor.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 
 // vision utils includes
diff --git a/src/test/gtest_vision_utils.cpp b/src/test/gtest_vision_utils.cpp
index a039c4f9c53616ae58e64701d2ccb21d674f5dce..b6e3a560c0550023fc56a55aac1c5395c209af25 100644
--- a/src/test/gtest_vision_utils.cpp
+++ b/src/test/gtest_vision_utils.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "utils_gtest.h"
 #include "../vision_utils.h"
 
diff --git a/src/test/utils_gtest.h b/src/test/utils_gtest.h
index f46ba4397eb3da589aaeab1c48c2766cd426cbc8..d77bdbd0a51dd05b246232de74fbcbf43b453a62 100644
--- a/src/test/utils_gtest.h
+++ b/src/test/utils_gtest.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef VU_UTILS_GTEST_H
 #define VU_UTILS_GTEST_H
 
diff --git a/src/vision_utils.cpp b/src/vision_utils.cpp
index 37f9ca78ab1b70bb14c83b6d33a77ef7a321d771..4829970925882c401a708885db3fa4101c86bada 100644
--- a/src/vision_utils.cpp
+++ b/src/vision_utils.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "vision_utils.h"
 
 // yaml-cpp library
diff --git a/src/vision_utils.h b/src/vision_utils.h
index 23c13e271b2b74c4229226652d6e0653c0deb2be..2ac9f79e3312b03b3be686f89eb540871e183fdd 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of vision_utils
+// vision_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef _VU_UTILS_H
 #define _VU_UTILS_H