diff --git a/demos/demo_factor_AHP.cpp b/demos/demo_factor_AHP.cpp
index 19f3ff5ab4f3d5bdb6593cb6dd456b398f1a7c97..01d23d9d75c88124b0b61dbcd017920c13e1bc26 100644
--- a/demos/demo_factor_AHP.cpp
+++ b/demos/demo_factor_AHP.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 "core/math/pinhole_tools.h"
 #include "core/landmark/landmark_AHP.h"
 #include "core/factor/factor_AHP.h"
diff --git a/demos/demo_image.cpp b/demos/demo_image.cpp
index 4562ee3c157cb869ebfbb8045f3c5252795ddc4e..ee462670fe5273a80cae3ab648c77ea2261c8604 100644
--- a/demos/demo_image.cpp
+++ b/demos/demo_image.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // Testing things for the 3D image odometry
 
 //Wolf includes
diff --git a/demos/demo_processor_bundle_adjustment.cpp b/demos/demo_processor_bundle_adjustment.cpp
index ec42ad730bdf64cedb9d8bf54417031c4c1bdb3a..6473fbaece81401fbaf426beb937b4f4e5c1ed04 100644
--- a/demos/demo_processor_bundle_adjustment.cpp
+++ b/demos/demo_processor_bundle_adjustment.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //std
 #include <iostream>
 
diff --git a/demos/demo_projection_points.cpp b/demos/demo_projection_points.cpp
index e1070e18f4ee0fc97769fc28c8acb6329e427d56..67e88185a7e67f8e528b602b2c52e8c8ffd6733c 100644
--- a/demos/demo_projection_points.cpp
+++ b/demos/demo_projection_points.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 // Vision utils
 #include <vision_utils/vision_utils.h>
diff --git a/demos/demo_simple_AHP.cpp b/demos/demo_simple_AHP.cpp
index 3c7f597ccfc97fac8ed107e0945647b3f1b2edfe..d34e0dce1f14acccc20e98b41946cf75b04425a8 100644
--- a/demos/demo_simple_AHP.cpp
+++ b/demos/demo_simple_AHP.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 test_simple_AHP.cpp
  *
diff --git a/demos/demo_tracker_ORB.cpp b/demos/demo_tracker_ORB.cpp
index f61e511b53de51190bf037305d8e4951d3c1813e..485d76982a8d662145a13104463536cf84603f0d 100644
--- a/demos/demo_tracker_ORB.cpp
+++ b/demos/demo_tracker_ORB.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //std includes
 #include <iostream>
 
diff --git a/demos/demo_trifocal_optimization.cpp b/demos/demo_trifocal_optimization.cpp
index 1245d642d7cd854210f9d95f9bf2de2764ee3162..075c87e20086e2627f24152a6f60abe3e321ec78 100644
--- a/demos/demo_trifocal_optimization.cpp
+++ b/demos/demo_trifocal_optimization.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // Testing creating wolf tree from imported .graph file
 
 //C includes for sleep, time and main args
diff --git a/include/vision/capture/capture_image.h b/include/vision/capture/capture_image.h
index c8a7f0d6b8d4abf0dec83a6f0ebaec4684dae7f6..2c3aac95f634394648f6ec462dfb5765b6c052c7 100644
--- a/include/vision/capture/capture_image.h
+++ b/include/vision/capture/capture_image.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 CAPTURE_IMAGE_H
 #define CAPTURE_IMAGE_H
 
diff --git a/include/vision/factor/factor_ahp.h b/include/vision/factor/factor_ahp.h
index 0bbb5332c4c9e094d877f2b47fdc0f4b6ef66786..8d7fa322f13799e9653ef64f701279573ebb2ce6 100644
--- a/include/vision/factor/factor_ahp.h
+++ b/include/vision/factor/factor_ahp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 FACTOR_AHP_H
 #define FACTOR_AHP_H
 
diff --git a/include/vision/factor/factor_epipolar.h b/include/vision/factor/factor_epipolar.h
index f848cca79b32e092b7964cc4e570cda1b536ae9d..0f40ec3552f8d405355426a77ef1df3c312a2fd0 100644
--- a/include/vision/factor/factor_epipolar.h
+++ b/include/vision/factor/factor_epipolar.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 FACTOR_EPIPOLAR_H
 #define FACTOR_EPIPOLAR_H
 
diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h
index ce65ce2aaa0671a95b2233c82a234019f36461db..8842bd84d3846a25dc4c9525232b46333fa513bb 100644
--- a/include/vision/factor/factor_pixel_hp.h
+++ b/include/vision/factor/factor_pixel_hp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 FACTOR_pixel_hp_H
 #define FACTOR_pixel_hp_H
 
diff --git a/include/vision/factor/factor_trifocal.h b/include/vision/factor/factor_trifocal.h
index 9a441bd1203af3a5cff44f2ea809964cff4af2e4..6c3dfa0585641e5588f362e99bb60690f0050868 100644
--- a/include/vision/factor/factor_trifocal.h
+++ b/include/vision/factor/factor_trifocal.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 _FACTOR_TRIFOCAL_H_
 #define _FACTOR_TRIFOCAL_H_
 
diff --git a/include/vision/feature/feature_point_image.h b/include/vision/feature/feature_point_image.h
index 88ee24b19cb1a40e9fc6f66f7007e5e70dec3863..93c69f194444aafd30ba097911648fb93b4e479e 100644
--- a/include/vision/feature/feature_point_image.h
+++ b/include/vision/feature/feature_point_image.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 FEATURE_IMAGE_H
 #define FEATURE_IMAGE_H
 
diff --git a/include/vision/landmark/landmark_ahp.h b/include/vision/landmark/landmark_ahp.h
index 0fc10ebcea28766c6199d188d969bd73d0b8d55a..3350ff64f705861372994f35fd0df2f0845e7840 100644
--- a/include/vision/landmark/landmark_ahp.h
+++ b/include/vision/landmark/landmark_ahp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 LANDMARK_AHP_H
 #define LANDMARK_AHP_H
 
diff --git a/include/vision/landmark/landmark_hp.h b/include/vision/landmark/landmark_hp.h
index eab9b9ea653d3407034c72e2c18600239ade38c0..b4033f5d897294ebe89e884b8579f4cb5b8d8307 100644
--- a/include/vision/landmark/landmark_hp.h
+++ b/include/vision/landmark/landmark_hp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 LANDMARK_HP_H
 #define LANDMARK_HP_H
 
diff --git a/include/vision/landmark/landmark_point_3d.h b/include/vision/landmark/landmark_point_3d.h
index 45e9058c9f1fb068195f30e71140011cc82c822b..a0eae7dfca0cc4d20aa2fc19c288d628cd2233fc 100644
--- a/include/vision/landmark/landmark_point_3d.h
+++ b/include/vision/landmark/landmark_point_3d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 LANDMARK_POINT_3d_H
 #define LANDMARK_POINT_3d_H
 
diff --git a/include/vision/math/pinhole_tools.h b/include/vision/math/pinhole_tools.h
index f4e9814d16f5e1131fd1121a2cef40f7e18c22f4..2f2c6fdc7e26db9432b142d1dee2cb609efb72ba 100644
--- a/include/vision/math/pinhole_tools.h
+++ b/include/vision/math/pinhole_tools.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 PINHOLETOOLS_H
 #define PINHOLETOOLS_H
 
diff --git a/include/vision/processor/processor_bundle_adjustment.h b/include/vision/processor/processor_bundle_adjustment.h
index 4fa2bf52c00660403cf690ef90e9a91e1326d9f4..7ae365c78c14bad4c80695e6eabbf2dff50ffa2f 100644
--- a/include/vision/processor/processor_bundle_adjustment.h
+++ b/include/vision/processor/processor_bundle_adjustment.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * processor_bundle_adjustment.h
  *
diff --git a/include/vision/processor/processor_params_image.h b/include/vision/processor/processor_params_image.h
index 05960f1e2598330f1745abcd18ea49791c572b2f..08ed529825304925d72dcb6da890a0f7f813c19e 100644
--- a/include/vision/processor/processor_params_image.h
+++ b/include/vision/processor/processor_params_image.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 PROCESSOR_IMAGE_PARAMS_H
 #define PROCESSOR_IMAGE_PARAMS_H
 
diff --git a/include/vision/processor/processor_tracker_feature_image.h b/include/vision/processor/processor_tracker_feature_image.h
index 3666244d467421c5444ff8c39a3a025c664264dc..c9b3ca18bfd64af38f3574e2002f25f4dd1f2303 100644
--- a/include/vision/processor/processor_tracker_feature_image.h
+++ b/include/vision/processor/processor_tracker_feature_image.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 PROCESSOR_TRACKER_FEATURE_IMAGE_H
 #define PROCESSOR_TRACKER_FEATURE_IMAGE_H
 
diff --git a/include/vision/processor/processor_tracker_feature_trifocal.h b/include/vision/processor/processor_tracker_feature_trifocal.h
index 0e85182e40d146a944f467ad1d7c385b2d62a7ba..c0fa810faa04bbb0b3716f164a7114b59061043b 100644
--- a/include/vision/processor/processor_tracker_feature_trifocal.h
+++ b/include/vision/processor/processor_tracker_feature_trifocal.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 _PROCESSOR_TRACKER_FEATURE_TRIFOCAL_H_
 #define _PROCESSOR_TRACKER_FEATURE_TRIFOCAL_H_
 
diff --git a/include/vision/processor/processor_tracker_landmark_image.h b/include/vision/processor/processor_tracker_landmark_image.h
index ae3f6083f69082b8ee4bd3589cd1a3576114f583..844d213c3c4ff13dc2e22fab539e820430ca78d0 100644
--- a/include/vision/processor/processor_tracker_landmark_image.h
+++ b/include/vision/processor/processor_tracker_landmark_image.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 PROCESSOR_TRACKER_LANDMARK_IMAGE_H
 #define PROCESSOR_TRACKER_LANDMARK_IMAGE_H
 
diff --git a/include/vision/sensor/sensor_camera.h b/include/vision/sensor/sensor_camera.h
index 709050ac3c490faa4311cfb8897698ac4c592903..31e2c46d3ccfa47f1ffac548543cfae1715f5a07 100644
--- a/include/vision/sensor/sensor_camera.h
+++ b/include/vision/sensor/sensor_camera.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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_CAMERA_H
 #define SENSOR_CAMERA_H
 
diff --git a/src/capture/capture_image.cpp b/src/capture/capture_image.cpp
index cee92ae7b0d31d02433799e86b0c5c9ca4b39024..ddbb5c283e9ecfbc1ae2035601b228c7d3572b5e 100644
--- a/src/capture/capture_image.cpp
+++ b/src/capture/capture_image.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/capture/capture_image.h"
 
 namespace wolf {
diff --git a/src/feature/feature_point_image.cpp b/src/feature/feature_point_image.cpp
index 34ca8e2532fd761a4ba7d98311009afafefaadf5..856c40c9bd611849b7b0f568ff1b4e964720c908 100644
--- a/src/feature/feature_point_image.cpp
+++ b/src/feature/feature_point_image.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/feature/feature_point_image.h"
 
diff --git a/src/landmark/landmark_ahp.cpp b/src/landmark/landmark_ahp.cpp
index 74dfb289169e1bf3408885408a7528c8d0a281e9..5d1e74bd5f9e69fb8287bf4e080db7d84993736f 100644
--- a/src/landmark/landmark_ahp.cpp
+++ b/src/landmark/landmark_ahp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/landmark/landmark_ahp.h"
 
 #include "core/state_block/state_homogeneous_3d.h"
diff --git a/src/landmark/landmark_hp.cpp b/src/landmark/landmark_hp.cpp
index d5e454fca8390967f41208893f8e94127e5116b6..7c9b182992e38225a402ec3d4db57a7314bb7a7b 100644
--- a/src/landmark/landmark_hp.cpp
+++ b/src/landmark/landmark_hp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/landmark/landmark_hp.h"
 
 #include "core/state_block/state_homogeneous_3d.h"
diff --git a/src/landmark/landmark_point_3d.cpp b/src/landmark/landmark_point_3d.cpp
index 90252ae084257a4f8b5c6463787409647459f3ed..e949fe4fb9ffc5723ec8c1d368d59660119003dc 100644
--- a/src/landmark/landmark_point_3d.cpp
+++ b/src/landmark/landmark_point_3d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/landmark/landmark_point_3d.h"
 
 namespace wolf {
diff --git a/src/processor/processor_bundle_adjustment.cpp b/src/processor/processor_bundle_adjustment.cpp
index 4a95b3cbd6b6dbbeb2c83836235b2b96662655f8..f65488c659db29ff8f31911520dd2bb10c197f96 100644
--- a/src/processor/processor_bundle_adjustment.cpp
+++ b/src/processor/processor_bundle_adjustment.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * processor_bundle_adjustment.cpp
  *
diff --git a/src/processor/processor_tracker_feature_image.cpp b/src/processor/processor_tracker_feature_image.cpp
index a064c624fe2207dcfec202a40905ccc3c92a2837..f4c196687d6e9f2bfe182913f62d37ecddac24b8 100644
--- a/src/processor/processor_tracker_feature_image.cpp
+++ b/src/processor/processor_tracker_feature_image.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // Wolf includes
 #include "vision/processor/processor_tracker_feature_image.h"
 
diff --git a/src/processor/processor_tracker_feature_trifocal.cpp b/src/processor/processor_tracker_feature_trifocal.cpp
index 6d5426b0c84e315aed4024514b48f78a6805b4f2..cbe7ee25934b6bf7dc35af454fa37995cd3f7bcf 100644
--- a/src/processor/processor_tracker_feature_trifocal.cpp
+++ b/src/processor/processor_tracker_feature_trifocal.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 // wolf
 #include "vision/processor/processor_tracker_feature_trifocal.h"
diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp
index ecf37b51aac261fadf4fc4a77d7b9d0d228869c3..9c77bede6b847358c19f34f5398621e9c072fd93 100644
--- a/src/processor/processor_tracker_landmark_image.cpp
+++ b/src/processor/processor_tracker_landmark_image.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/processor/processor_tracker_landmark_image.h"
 
 #include "vision/capture/capture_image.h"
diff --git a/src/sensor/sensor_camera.cpp b/src/sensor/sensor_camera.cpp
index a236256e6334eac2f580957acafc891688c948ef..047d3762edcf4dd059c502e0351533ca4f1bda47 100644
--- a/src/sensor/sensor_camera.cpp
+++ b/src/sensor/sensor_camera.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/sensor/sensor_camera.h"
 #include "vision/math/pinhole_tools.h"
diff --git a/src/yaml/processor_bundle_adjustment_yaml.cpp b/src/yaml/processor_bundle_adjustment_yaml.cpp
index 6fc78f42087f63fe09f51e8a6532c51dd1b21f0d..7c1ea072ca32387ab3410011632967ca2cb348f0 100644
--- a/src/yaml/processor_bundle_adjustment_yaml.cpp
+++ b/src/yaml/processor_bundle_adjustment_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // wolf yaml
 #include "core/yaml/yaml_conversion.h"
 
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index f6ead0c6bebff28e50633ac198f99c9de0949fae..de710d5033c0fb7fd47e11bed8e451752970be85 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 processor_image_yaml.cpp
  *
diff --git a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
index da79203f4030ab3698b7da108b952438e0069a9e..f22ce28b789c979c516f6a30b8a6058f148d17c1 100644
--- a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
+++ b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * processor_tracker_feature_trifocal_yaml.cpp
  *
diff --git a/src/yaml/sensor_camera_yaml.cpp b/src/yaml/sensor_camera_yaml.cpp
index d06e952feaa5eb49f120d79887e8f56199475510..681fbf7ec4beb23e1708adc96ad4280b4e87d048 100644
--- a/src/yaml/sensor_camera_yaml.cpp
+++ b/src/yaml/sensor_camera_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 sensor_camera_yaml.cpp
  *
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 140792d538ab5ae568ba7743fbc49bce0bb6d9f2..979fabb18a7fc70dff93e5d91e02be065a05b753 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 <core/utils/utils_gtest.h>
 
 TEST(TestTest, DummyTestExample)
diff --git a/test/gtest_factor_epipolar.cpp b/test/gtest_factor_epipolar.cpp
index f468fc3e7ca158dde67a7f7f0a77d0501e15bc78..1b5abfd71dcdda4b7785a7a84fbfd66584f46cb6 100644
--- a/test/gtest_factor_epipolar.cpp
+++ b/test/gtest_factor_epipolar.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 gtest_factor_epipolar.cpp
  *
diff --git a/test/gtest_factor_pixel_hp.cpp b/test/gtest_factor_pixel_hp.cpp
index 70875a7c0ff2c70c0408f1749b3ae5627505cedf..deef08c14ac23734ef7696db3a9b6e1f19741f4f 100644
--- a/test/gtest_factor_pixel_hp.cpp
+++ b/test/gtest_factor_pixel_hp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * gtest_factor_pixelHP.cpp
  *
diff --git a/test/gtest_factor_trifocal.cpp b/test/gtest_factor_trifocal.cpp
index 7a99912b69007fde28cbef92584c9c9ca6851d38..4b6dee9609503c4b65604c3d0a177f47f2341da7 100644
--- a/test/gtest_factor_trifocal.cpp
+++ b/test/gtest_factor_trifocal.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 <core/utils/utils_gtest.h>
 
 #include "core/utils/logging.h"
diff --git a/test/gtest_pinhole.cpp b/test/gtest_pinhole.cpp
index 9c39033063d58b6f9abed036f4f1d70674500c5a..387f7ab6168e7c486572905ebb0cb87467aca6bf 100644
--- a/test/gtest_pinhole.cpp
+++ b/test/gtest_pinhole.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * gtest_pinhole.cpp
  *
diff --git a/test/gtest_processor_bundle_adjustment.cpp b/test/gtest_processor_bundle_adjustment.cpp
index a5a8042adcc92605e3b6cf28228f649059a426ae..28b5decd3bd18be9523320cc8dafaeaa9a36a109 100644
--- a/test/gtest_processor_bundle_adjustment.cpp
+++ b/test/gtest_processor_bundle_adjustment.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 // this plugin includes
 #include "vision/sensor/sensor_camera.h"
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index 2e3d097e6c3e539bb3bc3ed7cc3f6ef29d5d1a52..5f6cf4ff6fcfeb1a38c130e02bd8405b223ac4c3 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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/processor/processor_tracker_feature_trifocal.h"
 #include "vision/capture/capture_image.h"
diff --git a/test/gtest_sensor_camera.cpp b/test/gtest_sensor_camera.cpp
index 3aadaa19c0a47b8a9021d386068704eb2e2da643..cdb7c4b6291b2a45c29f5298296364a027f2aa0d 100644
--- a/test/gtest_sensor_camera.cpp
+++ b/test/gtest_sensor_camera.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have 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 gtest_sensor_camera.cpp
  *