From ced3f5f9cf3c2908560b6ff475945bf52fc7efd9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 24 Nov 2021 15:08:01 +0100
Subject: [PATCH] Resolve "license headers"

---
 .gitlab-ci.yml                                |  78 ++++++++++-
 internal/config.h                             |  21 +++
 scripts/license_header_2021.txt               |  17 +++
 scripts/license_manager.sh                    | 124 ++++++++++++++++++
 src/algorithms.h                              |  21 +++
 .../activesearch/alg_activesearch.cpp         |  21 +++
 .../activesearch/alg_activesearch.h           |  21 +++
 .../alg_activesearch_load_yaml.cpp            |  21 +++
 src/algorithms/algorithm_base.cpp             |  21 +++
 src/algorithms/algorithm_base.h               |  21 +++
 src/algorithms/algorithm_factory.h            |  21 +++
 src/algorithms/anms/anms.cpp                  |  21 +++
 src/algorithms/anms/anms.h                    |  21 +++
 src/algorithms/anms/nanoflann.hpp             |  21 +++
 src/algorithms/anms/range_tree_lrtypes.h      |  21 +++
 src/algorithms/anms/range_tree_ranget.h       |  21 +++
 .../opticalflowpyrlk/alg_opticalflowpyrlk.cpp |  21 +++
 .../opticalflowpyrlk/alg_opticalflowpyrlk.h   |  21 +++
 .../alg_opticalflowpyrlk_load_yaml.cpp        |  21 +++
 .../alg_residualtrilinearity.cpp              |  21 +++
 .../alg_residualtrilinearity.h                |  21 +++
 .../alg_residualtrilinearity_load_yaml.cpp    |  21 +++
 .../trackfeatures/alg_trackfeatures.cpp       |  21 +++
 .../trackfeatures/alg_trackfeatures.h         |  21 +++
 .../alg_trackfeatures_load_yaml.cpp           |  21 +++
 src/common_class/buffer.h                     |  21 +++
 src/common_class/frame.h                      |  21 +++
 src/common_class/rotations.h                  |  21 +++
 src/common_class/trifocaltensor.h             |  21 +++
 src/descriptors.h                             |  21 +++
 src/descriptors/akaze/descriptor_akaze.cpp    |  21 +++
 src/descriptors/akaze/descriptor_akaze.h      |  21 +++
 .../akaze/descriptor_akaze_load_yaml.cpp      |  21 +++
 src/descriptors/brief/descriptor_brief.cpp    |  21 +++
 src/descriptors/brief/descriptor_brief.h      |  21 +++
 .../brief/descriptor_brief_load_yaml.cpp      |  21 +++
 src/descriptors/brisk/descriptor_brisk.cpp    |  21 +++
 src/descriptors/brisk/descriptor_brisk.h      |  21 +++
 .../brisk/descriptor_brisk_load_yaml.cpp      |  21 +++
 src/descriptors/daisy/descriptor_daisy.cpp    |  21 +++
 src/descriptors/daisy/descriptor_daisy.h      |  21 +++
 .../daisy/descriptor_daisy_load_yaml.cpp      |  21 +++
 src/descriptors/descriptor_base.cpp           |  21 +++
 src/descriptors/descriptor_base.h             |  21 +++
 src/descriptors/descriptor_factory.h          |  21 +++
 src/descriptors/freak/descriptor_freak.cpp    |  21 +++
 src/descriptors/freak/descriptor_freak.h      |  21 +++
 .../freak/descriptor_freak_load_yaml.cpp      |  21 +++
 src/descriptors/kaze/descriptor_kaze.cpp      |  21 +++
 src/descriptors/kaze/descriptor_kaze.h        |  21 +++
 .../kaze/descriptor_kaze_load_yaml.cpp        |  21 +++
 src/descriptors/latch/descriptor_latch.cpp    |  21 +++
 src/descriptors/latch/descriptor_latch.h      |  21 +++
 .../latch/descriptor_latch_load_yaml.cpp      |  21 +++
 src/descriptors/lucid/descriptor_lucid.cpp    |  21 +++
 src/descriptors/lucid/descriptor_lucid.h      |  21 +++
 .../lucid/descriptor_lucid_load_yaml.cpp      |  21 +++
 src/descriptors/orb/descriptor_orb.cpp        |  21 +++
 src/descriptors/orb/descriptor_orb.h          |  21 +++
 .../orb/descriptor_orb_load_yaml.cpp          |  21 +++
 src/descriptors/sift/descriptor_sift.cpp      |  21 +++
 src/descriptors/sift/descriptor_sift.h        |  21 +++
 .../sift/descriptor_sift_load_yaml.cpp        |  21 +++
 src/descriptors/surf/descriptor_surf.cpp      |  21 +++
 src/descriptors/surf/descriptor_surf.h        |  21 +++
 .../surf/descriptor_surf_load_yaml.cpp        |  21 +++
 src/detectors.h                               |  21 +++
 src/detectors/agast/detector_agast.cpp        |  21 +++
 src/detectors/agast/detector_agast.h          |  21 +++
 .../agast/detector_agast_load_yaml.cpp        |  21 +++
 src/detectors/akaze/detector_akaze.cpp        |  21 +++
 src/detectors/akaze/detector_akaze.h          |  21 +++
 .../akaze/detector_akaze_load_yaml.cpp        |  21 +++
 src/detectors/brisk/detector_brisk.cpp        |  21 +++
 src/detectors/brisk/detector_brisk.h          |  21 +++
 .../brisk/detector_brisk_load_yaml.cpp        |  21 +++
 src/detectors/detector_base.cpp               |  21 +++
 src/detectors/detector_base.h                 |  21 +++
 src/detectors/detector_factory.h              |  21 +++
 src/detectors/fast/detector_fast.cpp          |  21 +++
 src/detectors/fast/detector_fast.h            |  21 +++
 .../fast/detector_fast_load_yaml.cpp          |  21 +++
 src/detectors/gftt/detector_gftt.cpp          |  21 +++
 src/detectors/gftt/detector_gftt.h            |  21 +++
 .../gftt/detector_gftt_load_yaml.cpp          |  21 +++
 src/detectors/harris/detector_harris.cpp      |  21 +++
 src/detectors/harris/detector_harris.h        |  21 +++
 .../harris/detector_harris_load_yaml.cpp      |  21 +++
 src/detectors/kaze/detector_kaze.cpp          |  21 +++
 src/detectors/kaze/detector_kaze.h            |  21 +++
 .../kaze/detector_kaze_load_yaml.cpp          |  21 +++
 src/detectors/mser/detector_mser.cpp          |  21 +++
 src/detectors/mser/detector_mser.h            |  21 +++
 .../mser/detector_mser_load_yaml.cpp          |  21 +++
 src/detectors/orb/detector_orb.cpp            |  21 +++
 src/detectors/orb/detector_orb.h              |  21 +++
 src/detectors/orb/detector_orb_load_yaml.cpp  |  21 +++
 .../quickharris/detector_quickharris.cpp      |  21 +++
 .../quickharris/detector_quickharris.h        |  21 +++
 .../detector_quickharris_load_yaml.cpp        |  21 +++
 src/detectors/sbd/detector_sbd.cpp            |  21 +++
 src/detectors/sbd/detector_sbd.h              |  21 +++
 src/detectors/sbd/detector_sbd_load_yaml.cpp  |  21 +++
 src/detectors/sift/detector_sift.cpp          |  21 +++
 src/detectors/sift/detector_sift.h            |  21 +++
 .../sift/detector_sift_load_yaml.cpp          |  21 +++
 src/detectors/surf/detector_surf.cpp          |  21 +++
 src/detectors/surf/detector_surf.h            |  21 +++
 .../surf/detector_surf_load_yaml.cpp          |  21 +++
 src/examples/fundamental_matrix.cpp           |  21 +++
 src/examples/test_algorithm_activesearch.cpp  |  21 +++
 src/examples/test_algorithm_anms.cpp          |  21 +++
 .../test_algorithm_opticalflowpyrlk.cpp       |  21 +++
 src/examples/test_algorithm_trackfeatures.cpp |  21 +++
 src/examples/test_descriptor.cpp              |  21 +++
 src/examples/test_detector.cpp                |  21 +++
 src/examples/test_factories.cpp               |  21 +++
 src/examples/test_matcher.cpp                 |  21 +++
 src/examples/test_sensor.cpp                  |  21 +++
 src/factory.h                                 |  21 +++
 src/matchers.h                                |  21 +++
 .../bruteforce/matcher_bruteforce.cpp         |  21 +++
 src/matchers/bruteforce/matcher_bruteforce.h  |  21 +++
 .../matcher_bruteforce_load_yaml.cpp          |  21 +++
 .../matcher_bruteforce_hamming.cpp            |  21 +++
 .../matcher_bruteforce_hamming.h              |  21 +++
 .../matcher_bruteforce_hamming_load_yaml.cpp  |  21 +++
 .../matcher_bruteforce_hamming_2.cpp          |  21 +++
 .../matcher_bruteforce_hamming_2.h            |  21 +++
 ...matcher_bruteforce_hamming_2_load_yaml.cpp |  21 +++
 .../bruteforce_l1/matcher_bruteforce_l1.cpp   |  21 +++
 .../bruteforce_l1/matcher_bruteforce_l1.h     |  21 +++
 .../matcher_bruteforce_l1_load_yaml.cpp       |  21 +++
 .../flannbased/matcher_flannbased.cpp         |  21 +++
 src/matchers/flannbased/matcher_flannbased.h  |  21 +++
 .../matcher_flannbased_load_yaml.cpp          |  21 +++
 src/matchers/matcher_base.cpp                 |  21 +++
 src/matchers/matcher_base.h                   |  21 +++
 src/matchers/matcher_factory.h                |  21 +++
 src/sensors.h                                 |  21 +++
 src/sensors/sensor_base.cpp                   |  21 +++
 src/sensors/sensor_base.h                     |  21 +++
 src/sensors/sensor_factory.h                  |  21 +++
 src/sensors/usb_cam/usb_cam.cpp               |  21 +++
 src/sensors/usb_cam/usb_cam.h                 |  21 +++
 src/sensors/usb_cam/usb_cam_load_yaml.cpp     |  21 +++
 src/test/gtest_algorithm_base.cpp             |  21 +++
 .../gtest_algorithm_residualtrilinearity.cpp  |  21 +++
 src/test/gtest_buffer.cpp                     |  21 +++
 src/test/gtest_descriptor_base.cpp            |  21 +++
 src/test/gtest_descriptors.cpp                |  21 +++
 src/test/gtest_detector_base.cpp              |  21 +++
 src/test/gtest_detectors.cpp                  |  21 +++
 src/test/gtest_example.cpp                    |  21 +++
 src/test/gtest_frame.cpp                      |  21 +++
 src/test/gtest_matcher_base.cpp               |  21 +++
 src/test/gtest_matchers.cpp                   |  21 +++
 src/test/gtest_sensor_base.cpp                |  21 +++
 src/test/gtest_sensor_usb_cam.cpp             |  21 +++
 src/test/gtest_trifocaltensor.cpp             |  21 +++
 src/test/gtest_vision_utils.cpp               |  21 +++
 src/test/utils_gtest.h                        |  21 +++
 src/vision_utils.cpp                          |  21 +++
 src/vision_utils.h                            |  21 +++
 164 files changed, 3598 insertions(+), 2 deletions(-)
 create mode 100644 scripts/license_header_2021.txt
 create mode 100755 scripts/license_manager.sh
 mode change 100755 => 100644 src/algorithms/anms/nanoflann.hpp

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index b2e1584..3f575df 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 6449c33..ecd4091 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 0000000..ebd2af5
--- /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 0000000..ee81a37
--- /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 80e358b..4d0c1dd 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 9cd752a..a95aee1 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 b717c3a..052c90c 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 a7c0b33..803f54a 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 4c23670..09bacba 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 782b7f5..16fdd89 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 9bcaf4b..236340f 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 0bf1c59..3d0c289 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 64368b6..3699978 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 3866be5..a219562
--- 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 a8ce234..1595ca0 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 fc9fe0d..7f603a4 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 bcb7ee3..8302284 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 74343d0..188ee6b 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 1da5d9c..0f6ecc9 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 feb3069..8b3e89a 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 b4be39c..11948c6 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 c2d296a..7658ca1 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 37078ab..f4429c9 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 477e3b7..743b06d 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 dc6315e..f70b317 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 2e9d7b4..2affbae 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 4664036..55c2aec 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 124cef7..7f1dadb 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 fd4e5d6..20fafce 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 61904c2..dded07a 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 db9bdc6..7d7394d 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 d01dc79..6690627 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 918a983..388ff14 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 d19b78f..a7fbc7c 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 19e21d3..dfcd7e2 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 a27e309..5d60111 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 55c9f5e..c655497 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 c92c8e9..71b7143 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 a234283..6165bfa 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 788b0fe..14f9ad7 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 193ed2b..46d1784 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 b449fcf..01555c1 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 1f76d5a..b63f758 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 7d0c6fd..252e818 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 c2f1553..127ec0e 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 7a93b41..8ddb819 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 516d015..2820665 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 35c5cb8..78fe46f 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 2cd80cb..59b01de 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 d303756..2446e82 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 29c12af..37edc2d 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 bfa0cce..c3d76a8 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 780ae5b..15a0156 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 940981b..8c17c88 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 42bbd7a..74df3d3 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 db43b25..9d7b8af 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 3e2d9a9..6621abe 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 88d2552..a5325aa 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 c01e35e..185d1c2 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 9567f75..62d33a8 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 905fc58..2caee2a 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 ea69e58..c608b3c 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 5ef1577..f574d5e 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 6e7d7a4..e632fa0 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 f631e07..b5011a6 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 868c8b3..b9858f1 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 817d316..fd55605 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 64d3878..5c9be31 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 75cb15b..56dee83 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 744defc..7dfd39e 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 4dcb3a9..04ba98f 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 3a69ba7..b46411f 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 87415c5..f639c10 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 8ae9d53..b05028b 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 f3ddd94..1233bfe 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 510adc0..67d640d 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 acc93b8..3841d19 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 3c941fd..5b5ef9c 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 d4fa93a..150a7fc 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 4c3bf5d..7a224d7 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 c3eb584..f3ccac1 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 0d37956..435619b 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 3528ce4..3063cdf 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 78ce215..fddb128 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 30b0586..878791d 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 91a23fb..8aeeab6 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 4dd19cd..922a6c9 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 0952147..d690f11 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 69364c6..ed39f1d 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 0615dbe..4db0728 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 687910a..e965fde 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 43e806d..3751902 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 16b4a85..6a32e9a 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 6f6a892..2366ef7 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 6d304ee..7c529ca 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 e287b47..6306374 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 f8cd2dc..2ac85f2 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 7ec4a88..c82fa6b 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 58aa08e..ef8c40c 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 0eaba77..3612903 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 52c5a69..b35ea65 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 8273092..e270137 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 8a8546a..3d79e71 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 0fe1226..6c32535 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 fefc59a..8c2b484 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 feb4cf5..9dbcc1f 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 bf157e0..cbe3271 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 84cbca4..9732e40 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 1944efb..680d6f5 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 3f44500..72c04a4 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 102bb65..42e3d23 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 81d350e..4b77599 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 c0cf4b3..bd5952c 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 6040b5c..719291f 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 532b426..5e033be 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 f909143..d8b02eb 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 ba364f7..8842b39 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 3b6cb23..90e4c1f 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 3fa82af..9b8c2e5 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 92f552e..d26b314 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 268d950..089c163 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 bb8db71..9b91f4a 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 3dccf04..37ab53a 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 a43f4c6..0f6caf3 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 ee0ff07..553f029 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 d35eb2d..1b6c8c3 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 a00a2f1..95d7982 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 132c2a5..84e77e9 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 41cc149..484d24b 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 de7772c..bb7707b 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 211b995..7dfecbb 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 311ba06..62813c1 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 8098f54..5fe6747 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 a7a1834..5b79e23 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 e2fdea3..c506250 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 0b71d88..cda3812 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 0f17eb1..74acb6d 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 27d2a0b..87714c3 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 5434e96..19bcf3d 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 ac06809..82d95b2 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 52e79f8..049aed1 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 ee1b885..2f870dc 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 5f1eb4c..c685ffe 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 1f2cbdf..2cbd9bc 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 48935ca..f8cee49 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 6656b6a..1321a71 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 5cacb30..cca6b58 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 d2382d1..a059242 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 b232938..7466dab 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 bd9a119..2308a98 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 d1a83b6..4e8b0af 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 a946251..8b12df3 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 0e6a0ee..e07bef3 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 d9ea877..8e8795e 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 ba7fa9d..de89373 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 8290a81..0df0b7f 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 b8920cf..4553afd 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 4ff11f1..d1be9ea 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 be5ce3a..d7d7d27 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 682ad79..7b07d0a 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 a039c4f..b6e3a56 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 f46ba43..d77bdbd 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 37f9ca7..4829970 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 23c13e2..2ac9f79 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
 
-- 
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