diff --git a/CMakeLists.txt b/CMakeLists.txt
index eb03dcd..d0bba57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 cmake_minimum_required(VERSION 3.1)
 project(depth_clustering)
 
diff --git a/LICENCE.txt b/LICENCE.txt
index ee03181..0a49aad 100644
--- a/LICENCE.txt
+++ b/LICENCE.txt
@@ -1,678 +1,19 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
- 
- depth_clustering: a fast library to segment Velodyne clouds.
- Copyright (C) 2018  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-
-                            Preamble
-
-  The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
-  When we speak of free software, we are referring to freedom, not
-price.  Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-  To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights.  Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-  For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received.  You must make sure that they, too, receive
-or can get the source code.  And you must show them these terms so they
-know their rights.
-
-  Developers that use the GNU GPL protect your rights with two steps:
-(1) assert copyright on the software, and (2) offer you this License
-giving you legal permission to copy, distribute and/or modify it.
-
-  For the developers' and authors' protection, the GPL clearly explains
-that there is no warranty for this free software.  For both users' and
-authors' sake, the GPL requires that modified versions be marked as
-changed, so that their problems will not be attributed erroneously to
-authors of previous versions.
-
-  Some devices are designed to deny users access to install or run
-modified versions of the software inside them, although the manufacturer
-can do so.  This is fundamentally incompatible with the aim of
-protecting users' freedom to change the software.  The systematic
-pattern of such abuse occurs in the area of products for individuals to
-use, which is precisely where it is most unacceptable.  Therefore, we
-have designed this version of the GPL to prohibit the practice for those
-products.  If such problems arise substantially in other domains, we
-stand ready to extend this provision to those domains in future versions
-of the GPL, as needed to protect the freedom of users.
-
-  Finally, every program is threatened constantly by software patents.
-States should not allow patents to restrict development and use of
-software on general-purpose computers, but in those that do, we wish to
-avoid the special danger that patents applied to a free program could
-make it effectively proprietary.  To prevent this, the GPL assures that
-patents cannot be used to render the program non-free.
-
-  The precise terms and conditions for copying, distribution and
-modification follow.
-
-                       TERMS AND CONDITIONS
-
-  0. Definitions.
-
-  "This License" refers to version 3 of the GNU General Public License.
-
-  "Copyright" also means copyright-like laws that apply to other kinds of
-works, such as semiconductor masks.
-
-  "The Program" refers to any copyrightable work licensed under this
-License.  Each licensee is addressed as "you".  "Licensees" and
-"recipients" may be individuals or organizations.
-
-  To "modify" a work means to copy from or adapt all or part of the work
-in a fashion requiring copyright permission, other than the making of an
-exact copy.  The resulting work is called a "modified version" of the
-earlier work or a work "based on" the earlier work.
-
-  A "covered work" means either the unmodified Program or a work based
-on the Program.
-
-  To "propagate" a work means to do anything with it that, without
-permission, would make you directly or secondarily liable for
-infringement under applicable copyright law, except executing it on a
-computer or modifying a private copy.  Propagation includes copying,
-distribution (with or without modification), making available to the
-public, and in some countries other activities as well.
-
-  To "convey" a work means any kind of propagation that enables other
-parties to make or receive copies.  Mere interaction with a user through
-a computer network, with no transfer of a copy, is not conveying.
-
-  An interactive user interface displays "Appropriate Legal Notices"
-to the extent that it includes a convenient and prominently visible
-feature that (1) displays an appropriate copyright notice, and (2)
-tells the user that there is no warranty for the work (except to the
-extent that warranties are provided), that licensees may convey the
-work under this License, and how to view a copy of this License.  If
-the interface presents a list of user commands or options, such as a
-menu, a prominent item in the list meets this criterion.
-
-  1. Source Code.
-
-  The "source code" for a work means the preferred form of the work
-for making modifications to it.  "Object code" means any non-source
-form of a work.
-
-  A "Standard Interface" means an interface that either is an official
-standard defined by a recognized standards body, or, in the case of
-interfaces specified for a particular programming language, one that
-is widely used among developers working in that language.
-
-  The "System Libraries" of an executable work include anything, other
-than the work as a whole, that (a) is included in the normal form of
-packaging a Major Component, but which is not part of that Major
-Component, and (b) serves only to enable use of the work with that
-Major Component, or to implement a Standard Interface for which an
-implementation is available to the public in source code form.  A
-"Major Component", in this context, means a major essential component
-(kernel, window system, and so on) of the specific operating system
-(if any) on which the executable work runs, or a compiler used to
-produce the work, or an object code interpreter used to run it.
-
-  The "Corresponding Source" for a work in object code form means all
-the source code needed to generate, install, and (for an executable
-work) run the object code and to modify the work, including scripts to
-control those activities.  However, it does not include the work's
-System Libraries, or general-purpose tools or generally available free
-programs which are used unmodified in performing those activities but
-which are not part of the work.  For example, Corresponding Source
-includes interface definition files associated with source files for
-the work, and the source code for shared libraries and dynamically
-linked subprograms that the work is specifically designed to require,
-such as by intimate data communication or control flow between those
-subprograms and other parts of the work.
-
-  The Corresponding Source need not include anything that users
-can regenerate automatically from other parts of the Corresponding
-Source.
-
-  The Corresponding Source for a work in source code form is that
-same work.
-
-  2. Basic Permissions.
-
-  All rights granted under this License are granted for the term of
-copyright on the Program, and are irrevocable provided the stated
-conditions are met.  This License explicitly affirms your unlimited
-permission to run the unmodified Program.  The output from running a
-covered work is covered by this License only if the output, given its
-content, constitutes a covered work.  This License acknowledges your
-rights of fair use or other equivalent, as provided by copyright law.
-
-  You may make, run and propagate covered works that you do not
-convey, without conditions so long as your license otherwise remains
-in force.  You may convey covered works to others for the sole purpose
-of having them make modifications exclusively for you, or provide you
-with facilities for running those works, provided that you comply with
-the terms of this License in conveying all material for which you do
-not control copyright.  Those thus making or running the covered works
-for you must do so exclusively on your behalf, under your direction
-and control, on terms that prohibit them from making any copies of
-your copyrighted material outside their relationship with you.
-
-  Conveying under any other circumstances is permitted solely under
-the conditions stated below.  Sublicensing is not allowed; section 10
-makes it unnecessary.
-
-  3. Protecting Users' Legal Rights From Anti-Circumvention Law.
-
-  No covered work shall be deemed part of an effective technological
-measure under any applicable law fulfilling obligations under article
-11 of the WIPO copyright treaty adopted on 20 December 1996, or
-similar laws prohibiting or restricting circumvention of such
-measures.
-
-  When you convey a covered work, you waive any legal power to forbid
-circumvention of technological measures to the extent such circumvention
-is effected by exercising rights under this License with respect to
-the covered work, and you disclaim any intention to limit operation or
-modification of the work as a means of enforcing, against the work's
-users, your or third parties' legal rights to forbid circumvention of
-technological measures.
-
-  4. Conveying Verbatim Copies.
-
-  You may convey verbatim copies of the Program's source code as you
-receive it, in any medium, provided that you conspicuously and
-appropriately publish on each copy an appropriate copyright notice;
-keep intact all notices stating that this License and any
-non-permissive terms added in accord with section 7 apply to the code;
-keep intact all notices of the absence of any warranty; and give all
-recipients a copy of this License along with the Program.
-
-  You may charge any price or no price for each copy that you convey,
-and you may offer support or warranty protection for a fee.
-
-  5. Conveying Modified Source Versions.
-
-  You may convey a work based on the Program, or the modifications to
-produce it from the Program, in the form of source code under the
-terms of section 4, provided that you also meet all of these conditions:
-
-    a) The work must carry prominent notices stating that you modified
-    it, and giving a relevant date.
-
-    b) The work must carry prominent notices stating that it is
-    released under this License and any conditions added under section
-    7.  This requirement modifies the requirement in section 4 to
-    "keep intact all notices".
-
-    c) You must license the entire work, as a whole, under this
-    License to anyone who comes into possession of a copy.  This
-    License will therefore apply, along with any applicable section 7
-    additional terms, to the whole of the work, and all its parts,
-    regardless of how they are packaged.  This License gives no
-    permission to license the work in any other way, but it does not
-    invalidate such permission if you have separately received it.
-
-    d) If the work has interactive user interfaces, each must display
-    Appropriate Legal Notices; however, if the Program has interactive
-    interfaces that do not display Appropriate Legal Notices, your
-    work need not make them do so.
-
-  A compilation of a covered work with other separate and independent
-works, which are not by their nature extensions of the covered work,
-and which are not combined with it such as to form a larger program,
-in or on a volume of a storage or distribution medium, is called an
-"aggregate" if the compilation and its resulting copyright are not
-used to limit the access or legal rights of the compilation's users
-beyond what the individual works permit.  Inclusion of a covered work
-in an aggregate does not cause this License to apply to the other
-parts of the aggregate.
-
-  6. Conveying Non-Source Forms.
-
-  You may convey a covered work in object code form under the terms
-of sections 4 and 5, provided that you also convey the
-machine-readable Corresponding Source under the terms of this License,
-in one of these ways:
-
-    a) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by the
-    Corresponding Source fixed on a durable physical medium
-    customarily used for software interchange.
-
-    b) Convey the object code in, or embodied in, a physical product
-    (including a physical distribution medium), accompanied by a
-    written offer, valid for at least three years and valid for as
-    long as you offer spare parts or customer support for that product
-    model, to give anyone who possesses the object code either (1) a
-    copy of the Corresponding Source for all the software in the
-    product that is covered by this License, on a durable physical
-    medium customarily used for software interchange, for a price no
-    more than your reasonable cost of physically performing this
-    conveying of source, or (2) access to copy the
-    Corresponding Source from a network server at no charge.
-
-    c) Convey individual copies of the object code with a copy of the
-    written offer to provide the Corresponding Source.  This
-    alternative is allowed only occasionally and noncommercially, and
-    only if you received the object code with such an offer, in accord
-    with subsection 6b.
-
-    d) Convey the object code by offering access from a designated
-    place (gratis or for a charge), and offer equivalent access to the
-    Corresponding Source in the same way through the same place at no
-    further charge.  You need not require recipients to copy the
-    Corresponding Source along with the object code.  If the place to
-    copy the object code is a network server, the Corresponding Source
-    may be on a different server (operated by you or a third party)
-    that supports equivalent copying facilities, provided you maintain
-    clear directions next to the object code saying where to find the
-    Corresponding Source.  Regardless of what server hosts the
-    Corresponding Source, you remain obligated to ensure that it is
-    available for as long as needed to satisfy these requirements.
-
-    e) Convey the object code using peer-to-peer transmission, provided
-    you inform other peers where the object code and Corresponding
-    Source of the work are being offered to the general public at no
-    charge under subsection 6d.
-
-  A separable portion of the object code, whose source code is excluded
-from the Corresponding Source as a System Library, need not be
-included in conveying the object code work.
-
-  A "User Product" is either (1) a "consumer product", which means any
-tangible personal property which is normally used for personal, family,
-or household purposes, or (2) anything designed or sold for incorporation
-into a dwelling.  In determining whether a product is a consumer product,
-doubtful cases shall be resolved in favor of coverage.  For a particular
-product received by a particular user, "normally used" refers to a
-typical or common use of that class of product, regardless of the status
-of the particular user or of the way in which the particular user
-actually uses, or expects or is expected to use, the product.  A product
-is a consumer product regardless of whether the product has substantial
-commercial, industrial or non-consumer uses, unless such uses represent
-the only significant mode of use of the product.
-
-  "Installation Information" for a User Product means any methods,
-procedures, authorization keys, or other information required to install
-and execute modified versions of a covered work in that User Product from
-a modified version of its Corresponding Source.  The information must
-suffice to ensure that the continued functioning of the modified object
-code is in no case prevented or interfered with solely because
-modification has been made.
-
-  If you convey an object code work under this section in, or with, or
-specifically for use in, a User Product, and the conveying occurs as
-part of a transaction in which the right of possession and use of the
-User Product is transferred to the recipient in perpetuity or for a
-fixed term (regardless of how the transaction is characterized), the
-Corresponding Source conveyed under this section must be accompanied
-by the Installation Information.  But this requirement does not apply
-if neither you nor any third party retains the ability to install
-modified object code on the User Product (for example, the work has
-been installed in ROM).
-
-  The requirement to provide Installation Information does not include a
-requirement to continue to provide support service, warranty, or updates
-for a work that has been modified or installed by the recipient, or for
-the User Product in which it has been modified or installed.  Access to a
-network may be denied when the modification itself materially and
-adversely affects the operation of the network or violates the rules and
-protocols for communication across the network.
-
-  Corresponding Source conveyed, and Installation Information provided,
-in accord with this section must be in a format that is publicly
-documented (and with an implementation available to the public in
-source code form), and must require no special password or key for
-unpacking, reading or copying.
-
-  7. Additional Terms.
-
-  "Additional permissions" are terms that supplement the terms of this
-License by making exceptions from one or more of its conditions.
-Additional permissions that are applicable to the entire Program shall
-be treated as though they were included in this License, to the extent
-that they are valid under applicable law.  If additional permissions
-apply only to part of the Program, that part may be used separately
-under those permissions, but the entire Program remains governed by
-this License without regard to the additional permissions.
-
-  When you convey a copy of a covered work, you may at your option
-remove any additional permissions from that copy, or from any part of
-it.  (Additional permissions may be written to require their own
-removal in certain cases when you modify the work.)  You may place
-additional permissions on material, added by you to a covered work,
-for which you have or can give appropriate copyright permission.
-
-  Notwithstanding any other provision of this License, for material you
-add to a covered work, you may (if authorized by the copyright holders of
-that material) supplement the terms of this License with terms:
-
-    a) Disclaiming warranty or limiting liability differently from the
-    terms of sections 15 and 16 of this License; or
-
-    b) Requiring preservation of specified reasonable legal notices or
-    author attributions in that material or in the Appropriate Legal
-    Notices displayed by works containing it; or
-
-    c) Prohibiting misrepresentation of the origin of that material, or
-    requiring that modified versions of such material be marked in
-    reasonable ways as different from the original version; or
-
-    d) Limiting the use for publicity purposes of names of licensors or
-    authors of the material; or
-
-    e) Declining to grant rights under trademark law for use of some
-    trade names, trademarks, or service marks; or
-
-    f) Requiring indemnification of licensors and authors of that
-    material by anyone who conveys the material (or modified versions of
-    it) with contractual assumptions of liability to the recipient, for
-    any liability that these contractual assumptions directly impose on
-    those licensors and authors.
-
-  All other non-permissive additional terms are considered "further
-restrictions" within the meaning of section 10.  If the Program as you
-received it, or any part of it, contains a notice stating that it is
-governed by this License along with a term that is a further
-restriction, you may remove that term.  If a license document contains
-a further restriction but permits relicensing or conveying under this
-License, you may add to a covered work material governed by the terms
-of that license document, provided that the further restriction does
-not survive such relicensing or conveying.
-
-  If you add terms to a covered work in accord with this section, you
-must place, in the relevant source files, a statement of the
-additional terms that apply to those files, or a notice indicating
-where to find the applicable terms.
-
-  Additional terms, permissive or non-permissive, may be stated in the
-form of a separately written license, or stated as exceptions;
-the above requirements apply either way.
-
-  8. Termination.
-
-  You may not propagate or modify a covered work except as expressly
-provided under this License.  Any attempt otherwise to propagate or
-modify it is void, and will automatically terminate your rights under
-this License (including any patent licenses granted under the third
-paragraph of section 11).
-
-  However, if you cease all violation of this License, then your
-license from a particular copyright holder is reinstated (a)
-provisionally, unless and until the copyright holder explicitly and
-finally terminates your license, and (b) permanently, if the copyright
-holder fails to notify you of the violation by some reasonable means
-prior to 60 days after the cessation.
-
-  Moreover, your license from a particular copyright holder is
-reinstated permanently if the copyright holder notifies you of the
-violation by some reasonable means, this is the first time you have
-received notice of violation of this License (for any work) from that
-copyright holder, and you cure the violation prior to 30 days after
-your receipt of the notice.
-
-  Termination of your rights under this section does not terminate the
-licenses of parties who have received copies or rights from you under
-this License.  If your rights have been terminated and not permanently
-reinstated, you do not qualify to receive new licenses for the same
-material under section 10.
-
-  9. Acceptance Not Required for Having Copies.
-
-  You are not required to accept this License in order to receive or
-run a copy of the Program.  Ancillary propagation of a covered work
-occurring solely as a consequence of using peer-to-peer transmission
-to receive a copy likewise does not require acceptance.  However,
-nothing other than this License grants you permission to propagate or
-modify any covered work.  These actions infringe copyright if you do
-not accept this License.  Therefore, by modifying or propagating a
-covered work, you indicate your acceptance of this License to do so.
-
-  10. Automatic Licensing of Downstream Recipients.
-
-  Each time you convey a covered work, the recipient automatically
-receives a license from the original licensors, to run, modify and
-propagate that work, subject to this License.  You are not responsible
-for enforcing compliance by third parties with this License.
-
-  An "entity transaction" is a transaction transferring control of an
-organization, or substantially all assets of one, or subdividing an
-organization, or merging organizations.  If propagation of a covered
-work results from an entity transaction, each party to that
-transaction who receives a copy of the work also receives whatever
-licenses to the work the party's predecessor in interest had or could
-give under the previous paragraph, plus a right to possession of the
-Corresponding Source of the work from the predecessor in interest, if
-the predecessor has it or can get it with reasonable efforts.
-
-  You may not impose any further restrictions on the exercise of the
-rights granted or affirmed under this License.  For example, you may
-not impose a license fee, royalty, or other charge for exercise of
-rights granted under this License, and you may not initiate litigation
-(including a cross-claim or counterclaim in a lawsuit) alleging that
-any patent claim is infringed by making, using, selling, offering for
-sale, or importing the Program or any portion of it.
-
-  11. Patents.
-
-  A "contributor" is a copyright holder who authorizes use under this
-License of the Program or a work on which the Program is based.  The
-work thus licensed is called the contributor's "contributor version".
-
-  A contributor's "essential patent claims" are all patent claims
-owned or controlled by the contributor, whether already acquired or
-hereafter acquired, that would be infringed by some manner, permitted
-by this License, of making, using, or selling its contributor version,
-but do not include claims that would be infringed only as a
-consequence of further modification of the contributor version.  For
-purposes of this definition, "control" includes the right to grant
-patent sublicenses in a manner consistent with the requirements of
-this License.
-
-  Each contributor grants you a non-exclusive, worldwide, royalty-free
-patent license under the contributor's essential patent claims, to
-make, use, sell, offer for sale, import and otherwise run, modify and
-propagate the contents of its contributor version.
-
-  In the following three paragraphs, a "patent license" is any express
-agreement or commitment, however denominated, not to enforce a patent
-(such as an express permission to practice a patent or covenant not to
-sue for patent infringement).  To "grant" such a patent license to a
-party means to make such an agreement or commitment not to enforce a
-patent against the party.
-
-  If you convey a covered work, knowingly relying on a patent license,
-and the Corresponding Source of the work is not available for anyone
-to copy, free of charge and under the terms of this License, through a
-publicly available network server or other readily accessible means,
-then you must either (1) cause the Corresponding Source to be so
-available, or (2) arrange to deprive yourself of the benefit of the
-patent license for this particular work, or (3) arrange, in a manner
-consistent with the requirements of this License, to extend the patent
-license to downstream recipients.  "Knowingly relying" means you have
-actual knowledge that, but for the patent license, your conveying the
-covered work in a country, or your recipient's use of the covered work
-in a country, would infringe one or more identifiable patents in that
-country that you have reason to believe are valid.
-
-  If, pursuant to or in connection with a single transaction or
-arrangement, you convey, or propagate by procuring conveyance of, a
-covered work, and grant a patent license to some of the parties
-receiving the covered work authorizing them to use, propagate, modify
-or convey a specific copy of the covered work, then the patent license
-you grant is automatically extended to all recipients of the covered
-work and works based on it.
-
-  A patent license is "discriminatory" if it does not include within
-the scope of its coverage, prohibits the exercise of, or is
-conditioned on the non-exercise of one or more of the rights that are
-specifically granted under this License.  You may not convey a covered
-work if you are a party to an arrangement with a third party that is
-in the business of distributing software, under which you make payment
-to the third party based on the extent of your activity of conveying
-the work, and under which the third party grants, to any of the
-parties who would receive the covered work from you, a discriminatory
-patent license (a) in connection with copies of the covered work
-conveyed by you (or copies made from those copies), or (b) primarily
-for and in connection with specific products or compilations that
-contain the covered work, unless you entered into that arrangement,
-or that patent license was granted, prior to 28 March 2007.
-
-  Nothing in this License shall be construed as excluding or limiting
-any implied license or other defenses to infringement that may
-otherwise be available to you under applicable patent law.
-
-  12. No Surrender of Others' Freedom.
-
-  If conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License.  If you cannot convey a
-covered work so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you may
-not convey it at all.  For example, if you agree to terms that obligate you
-to collect a royalty for further conveying from those to whom you convey
-the Program, the only way you could satisfy both those terms and this
-License would be to refrain entirely from conveying the Program.
-
-  13. Use with the GNU Affero General Public License.
-
-  Notwithstanding any other provision of this License, you have
-permission to link or combine any covered work with a work licensed
-under version 3 of the GNU Affero General Public License into a single
-combined work, and to convey the resulting work.  The terms of this
-License will continue to apply to the part which is the covered work,
-but the special requirements of the GNU Affero General Public License,
-section 13, concerning interaction through a network will apply to the
-combination as such.
-
-  14. Revised Versions of this License.
-
-  The Free Software Foundation may publish revised and/or new versions of
-the GNU General Public License from time to time.  Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-  Each version is given a distinguishing version number.  If the
-Program specifies that a certain numbered version of the GNU General
-Public License "or any later version" applies to it, you have the
-option of following the terms and conditions either of that numbered
-version or of any later version published by the Free Software
-Foundation.  If the Program does not specify a version number of the
-GNU General Public License, you may choose any version ever published
-by the Free Software Foundation.
-
-  If the Program specifies that a proxy can decide which future
-versions of the GNU General Public License can be used, that proxy's
-public statement of acceptance of a version permanently authorizes you
-to choose that version for the Program.
-
-  Later license versions may give you additional or different
-permissions.  However, no additional obligations are imposed on any
-author or copyright holder as a result of your choosing to follow a
-later version.
-
-  15. Disclaimer of Warranty.
-
-  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
-APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
-HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
-OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
-IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
-ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
-
-  16. Limitation of Liability.
-
-  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
-THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
-GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
-USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
-DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
-PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
-EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGES.
-
-  17. Interpretation of Sections 15 and 16.
-
-  If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
-                     END OF TERMS AND CONDITIONS
-
-            How to Apply These Terms to Your New Programs
-
-  If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
-  To do so, attach the following notices to the program.  It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
-    <one line to give the program's name and a brief idea of what it does.>
-    Copyright (C) <year>  <name of author>
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-Also add information on how to contact you by electronic and paper mail.
-
-  If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
-    <program>  Copyright (C) <year>  <name of author>
-    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
-    This is free software, and you are welcome to redistribute it
-    under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
-  You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-<http://www.gnu.org/licenses/>.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-<http://www.gnu.org/philosophy/why-not-lgpl.html>.
+Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
diff --git a/config/cmake_config.h.in b/config/cmake_config.h.in
index e71bc71..a905fa5 100644
--- a/config/cmake_config.h.in
+++ b/config/cmake_config.h.in
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_DEPTH_CLUSTERING_CONFIG_CMAKE_CONFIG_H_
 #define SRC_DEPTH_CLUSTERING_CONFIG_CMAKE_CONFIG_H_
diff --git a/examples/ros_nodes/CMakeLists.txt b/examples/ros_nodes/CMakeLists.txt
index 5d89178..99156ff 100644
--- a/examples/ros_nodes/CMakeLists.txt
+++ b/examples/ros_nodes/CMakeLists.txt
@@ -1,3 +1,24 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
+
 add_executable(show_objects_node show_objects_node.cpp)
 target_link_libraries(show_objects_node
                       ros_bridge
diff --git a/examples/ros_nodes/save_clusters_node.cpp b/examples/ros_nodes/save_clusters_node.cpp
index 305a112..cf95941 100644
--- a/examples/ros_nodes/save_clusters_node.cpp
+++ b/examples/ros_nodes/save_clusters_node.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <ros/ros.h>
 
diff --git a/examples/ros_nodes/show_objects_node.cpp b/examples/ros_nodes/show_objects_node.cpp
index 849d197..736909c 100644
--- a/examples/ros_nodes/show_objects_node.cpp
+++ b/examples/ros_nodes/show_objects_node.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <ros/ros.h>
 
diff --git a/examples/simple_nodes/CMakeLists.txt b/examples/simple_nodes/CMakeLists.txt
index 572b4cc..86a20e0 100644
--- a/examples/simple_nodes/CMakeLists.txt
+++ b/examples/simple_nodes/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_executable(show_objects_kitti show_objects_kitti.cpp)
 target_link_libraries(show_objects_kitti
                       identifiable
diff --git a/examples/simple_nodes/show_objects_kitti.cpp b/examples/simple_nodes/show_objects_kitti.cpp
index 84e0541..25e3f9b 100644
--- a/examples/simple_nodes/show_objects_kitti.cpp
+++ b/examples/simple_nodes/show_objects_kitti.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <stdio.h>
 
diff --git a/examples/simple_nodes/show_objects_moosmann.cpp b/examples/simple_nodes/show_objects_moosmann.cpp
index 66fb9a8..77bde70 100644
--- a/examples/simple_nodes/show_objects_moosmann.cpp
+++ b/examples/simple_nodes/show_objects_moosmann.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <stdio.h>
 
diff --git a/package.xml b/package.xml
index 05ba2fd..ffa5a5d 100644
--- a/package.xml
+++ b/package.xml
@@ -6,7 +6,7 @@
 
   <maintainer email="igor.bogoslavskyi@uni-bonn.de">Igor Bogoslavskyi</maintainer>
 
-  <license>GPLv3</license>
+  <license>MIT</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8a410f2..dfbdb6e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_subdirectory(communication)
 add_subdirectory(ground_removal)
 add_subdirectory(image_labelers)
diff --git a/src/clusterers/abstract_clusterer.h b/src/clusterers/abstract_clusterer.h
index 80d78f0..eebf128 100644
--- a/src/clusterers/abstract_clusterer.h
+++ b/src/clusterers/abstract_clusterer.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_CLUSTERERS_ABSTRACT_CLUSTERER_H_
 #define SRC_CLUSTERERS_ABSTRACT_CLUSTERER_H_
diff --git a/src/clusterers/euclidean_clusterer.h b/src/clusterers/euclidean_clusterer.h
index 44cc0fd..251c654 100644
--- a/src/clusterers/euclidean_clusterer.h
+++ b/src/clusterers/euclidean_clusterer.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_CLUSTERERS_EUCLIDEAN_CLUSTERER_H_
 #define SRC_CLUSTERERS_EUCLIDEAN_CLUSTERER_H_
diff --git a/src/clusterers/image_based_clusterer.h b/src/clusterers/image_based_clusterer.h
index 0e3379d..626372c 100644
--- a/src/clusterers/image_based_clusterer.h
+++ b/src/clusterers/image_based_clusterer.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_CLUSTERERS_IMAGE_BASED_CLUSTERER_H_
 #define SRC_CLUSTERERS_IMAGE_BASED_CLUSTERER_H_
diff --git a/src/communication/CMakeLists.txt b/src/communication/CMakeLists.txt
index 1b3360a..610ef47 100644
--- a/src/communication/CMakeLists.txt
+++ b/src/communication/CMakeLists.txt
@@ -1 +1,21 @@
-add_library(identifiable SHARED identifiable.cpp)
\ No newline at end of file
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
+add_library(identifiable SHARED identifiable.cpp)
diff --git a/src/communication/abstract_client.h b/src/communication/abstract_client.h
index 1d1820c..2ec9517 100644
--- a/src/communication/abstract_client.h
+++ b/src/communication/abstract_client.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_COMMUNICATION_ABSTRACT_CLIENT_H_
 #define SRC_COMMUNICATION_ABSTRACT_CLIENT_H_
diff --git a/src/communication/abstract_sender.h b/src/communication/abstract_sender.h
index 013abe1..a0dc395 100644
--- a/src/communication/abstract_sender.h
+++ b/src/communication/abstract_sender.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_COMMUNICATION_ABSTRACT_SENDER_H_
 #define SRC_COMMUNICATION_ABSTRACT_SENDER_H_
diff --git a/src/communication/identifiable.cpp b/src/communication/identifiable.cpp
index fa7f752..47857e8 100644
--- a/src/communication/identifiable.cpp
+++ b/src/communication/identifiable.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "communication/identifiable.h"
 #include <string>
diff --git a/src/communication/identifiable.h b/src/communication/identifiable.h
index 32b6e48..e38b7e7 100644
--- a/src/communication/identifiable.h
+++ b/src/communication/identifiable.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_COMMUNICATION_IDENTIFIABLE_H_
 #define SRC_COMMUNICATION_IDENTIFIABLE_H_
diff --git a/src/ground_removal/CMakeLists.txt b/src/ground_removal/CMakeLists.txt
index 4a729d0..3bf8d45 100644
--- a/src/ground_removal/CMakeLists.txt
+++ b/src/ground_removal/CMakeLists.txt
@@ -1,7 +1,27 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(ground_remove SHARED depth_ground_remover.cpp)
 target_link_libraries(ground_remove
                       identifiable
                       velodyne_utils
                       difference
                       ${PCL_LIBRARIES}
-                      ${OpenCV_LIBS})
\ No newline at end of file
+                      ${OpenCV_LIBS})
diff --git a/src/ground_removal/depth_ground_remover.cpp b/src/ground_removal/depth_ground_remover.cpp
index 488cc2d..2621f74 100644
--- a/src/ground_removal/depth_ground_remover.cpp
+++ b/src/ground_removal/depth_ground_remover.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./depth_ground_remover.h"
 
@@ -19,24 +24,23 @@
 
 #include <algorithm>
 
-#include "utils/velodyne_utils.h"
-#include "image_labelers/linear_image_labeler.h"
 #include "image_labelers/diff_helpers/angle_diff.h"
 #include "image_labelers/diff_helpers/simple_diff.h"
+#include "image_labelers/linear_image_labeler.h"
 #include "utils/timer.h"
+#include "utils/velodyne_utils.h"
 
 namespace depth_clustering {
 
-using cv::Mat;
 using cv::DataType;
+using cv::Mat;
 using std::to_string;
 using time_utils::Timer;
 
 const cv::Point ANCHOR_CENTER = cv::Point(-1, -1);
 const int SAME_OUTPUT_TYPE = -1;
 
-void DepthGroundRemover::OnNewObjectReceived(const Cloud& cloud,
-                                             const int sender_id) {
+void DepthGroundRemover::OnNewObjectReceived(const Cloud& cloud, const int) {
   // this can be done even faster if we switch to column-major implementation
   // thus allowing us to load whole row in L1 cache
   if (!cloud.projection_ptr()) {
diff --git a/src/ground_removal/depth_ground_remover.h b/src/ground_removal/depth_ground_remover.h
index 4f0e97f..bb03ff2 100644
--- a/src/ground_removal/depth_ground_remover.h
+++ b/src/ground_removal/depth_ground_remover.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_GROUND_REMOVAL_DEPTH_GROUND_REMOVER_H_
 #define SRC_GROUND_REMOVAL_DEPTH_GROUND_REMOVER_H_
diff --git a/src/image_labelers/CMakeLists.txt b/src/image_labelers/CMakeLists.txt
index faad2be..803011e 100644
--- a/src/image_labelers/CMakeLists.txt
+++ b/src/image_labelers/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_subdirectory(diff_helpers)
 
 add_library(image_labeler SHARED abstract_image_labeler.cpp)
diff --git a/src/image_labelers/abstract_image_labeler.cpp b/src/image_labelers/abstract_image_labeler.cpp
index b50b2ae..76b53c9 100644
--- a/src/image_labelers/abstract_image_labeler.cpp
+++ b/src/image_labelers/abstract_image_labeler.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./abstract_image_labeler.h"
 
diff --git a/src/image_labelers/abstract_image_labeler.h b/src/image_labelers/abstract_image_labeler.h
index 648ff68..11580e8 100644
--- a/src/image_labelers/abstract_image_labeler.h
+++ b/src/image_labelers/abstract_image_labeler.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_ABSTRACT_IMAGE_LABELER_H_
 #define SRC_IMAGE_LABELERS_ABSTRACT_IMAGE_LABELER_H_
diff --git a/src/image_labelers/diff_helpers/CMakeLists.txt b/src/image_labelers/diff_helpers/CMakeLists.txt
index 2943c4d..d176e81 100644
--- a/src/image_labelers/diff_helpers/CMakeLists.txt
+++ b/src/image_labelers/diff_helpers/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(difference SHARED
             angle_diff.cpp
             line_dist_diff.cpp)
diff --git a/src/image_labelers/diff_helpers/abstract_diff.h b/src/image_labelers/diff_helpers/abstract_diff.h
index 4515744..5b7c4d0 100644
--- a/src/image_labelers/diff_helpers/abstract_diff.h
+++ b/src/image_labelers/diff_helpers/abstract_diff.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIFF_HELPERS_ABSTRACT_DIFF_H_
 #define SRC_IMAGE_LABELERS_DIFF_HELPERS_ABSTRACT_DIFF_H_
diff --git a/src/image_labelers/diff_helpers/angle_diff.cpp b/src/image_labelers/diff_helpers/angle_diff.cpp
index 5959627..f647331 100644
--- a/src/image_labelers/diff_helpers/angle_diff.cpp
+++ b/src/image_labelers/diff_helpers/angle_diff.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <math.h>
 #include <vector>
diff --git a/src/image_labelers/diff_helpers/angle_diff.h b/src/image_labelers/diff_helpers/angle_diff.h
index b086157..6706b58 100644
--- a/src/image_labelers/diff_helpers/angle_diff.h
+++ b/src/image_labelers/diff_helpers/angle_diff.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIFF_HELPERS_ANGLE_DIFF_H_
 #define SRC_IMAGE_LABELERS_DIFF_HELPERS_ANGLE_DIFF_H_
diff --git a/src/image_labelers/diff_helpers/diff_factory.h b/src/image_labelers/diff_helpers/diff_factory.h
index 7fafb3a..df13057 100644
--- a/src/image_labelers/diff_helpers/diff_factory.h
+++ b/src/image_labelers/diff_helpers/diff_factory.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIFF_HELPERS_DIFF_FACTORY_H_
 #define SRC_IMAGE_LABELERS_DIFF_HELPERS_DIFF_FACTORY_H_
diff --git a/src/image_labelers/diff_helpers/line_dist_diff.cpp b/src/image_labelers/diff_helpers/line_dist_diff.cpp
index 3a0cb89..ac71bfd 100644
--- a/src/image_labelers/diff_helpers/line_dist_diff.cpp
+++ b/src/image_labelers/diff_helpers/line_dist_diff.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <math.h>
 #include <algorithm>
diff --git a/src/image_labelers/diff_helpers/line_dist_diff.h b/src/image_labelers/diff_helpers/line_dist_diff.h
index fa16433..947fdea 100644
--- a/src/image_labelers/diff_helpers/line_dist_diff.h
+++ b/src/image_labelers/diff_helpers/line_dist_diff.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIFF_HELPERS_LINE_DIST_DIFF_H_
 #define SRC_IMAGE_LABELERS_DIFF_HELPERS_LINE_DIST_DIFF_H_
diff --git a/src/image_labelers/diff_helpers/simple_diff.h b/src/image_labelers/diff_helpers/simple_diff.h
index ed0f1b5..c6a6813 100644
--- a/src/image_labelers/diff_helpers/simple_diff.h
+++ b/src/image_labelers/diff_helpers/simple_diff.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIFF_HELPERS_SIMPLE_DIFF_H_
 #define SRC_IMAGE_LABELERS_DIFF_HELPERS_SIMPLE_DIFF_H_
diff --git a/src/image_labelers/dijkstra_image_labeler.h b/src/image_labelers/dijkstra_image_labeler.h
index 0e1c068..f2705eb 100644
--- a/src/image_labelers/dijkstra_image_labeler.h
+++ b/src/image_labelers/dijkstra_image_labeler.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_DIJKSTRA_IMAGE_LABELER_H_
 #define SRC_IMAGE_LABELERS_DIJKSTRA_IMAGE_LABELER_H_
diff --git a/src/image_labelers/hash_queue.h b/src/image_labelers/hash_queue.h
index d81ba96..4709ee4 100644
--- a/src/image_labelers/hash_queue.h
+++ b/src/image_labelers/hash_queue.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_HASH_QUEUE_H_
 #define SRC_IMAGE_LABELERS_HASH_QUEUE_H_
diff --git a/src/image_labelers/linear_image_labeler.h b/src/image_labelers/linear_image_labeler.h
index b8dd781..c0d020c 100644
--- a/src/image_labelers/linear_image_labeler.h
+++ b/src/image_labelers/linear_image_labeler.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_LINEAR_IMAGE_LABELER_H_
 #define SRC_IMAGE_LABELERS_LINEAR_IMAGE_LABELER_H_
diff --git a/src/image_labelers/pixel_coords.h b/src/image_labelers/pixel_coords.h
index d41b8e4..f4a2e1e 100644
--- a/src/image_labelers/pixel_coords.h
+++ b/src/image_labelers/pixel_coords.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_IMAGE_LABELERS_PIXEL_COORDS_H_
 #define SRC_IMAGE_LABELERS_PIXEL_COORDS_H_
diff --git a/src/projections/CMakeLists.txt b/src/projections/CMakeLists.txt
index bf340fb..5033fff 100644
--- a/src/projections/CMakeLists.txt
+++ b/src/projections/CMakeLists.txt
@@ -1,7 +1,27 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(projections SHARED
             projection_params.cpp
             cloud_projection.cpp
             ring_projection.cpp
             spherical_projection.cpp)
 
-target_link_libraries(projections ${OpenCV_LIBS})
\ No newline at end of file
+target_link_libraries(projections ${OpenCV_LIBS})
diff --git a/src/projections/cloud_projection.cpp b/src/projections/cloud_projection.cpp
index 53fb2f6..b4391cc 100644
--- a/src/projections/cloud_projection.cpp
+++ b/src/projections/cloud_projection.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "projections/cloud_projection.h"
 #include <string>
diff --git a/src/projections/cloud_projection.h b/src/projections/cloud_projection.h
index 0492e54..bb1b49c 100644
--- a/src/projections/cloud_projection.h
+++ b/src/projections/cloud_projection.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_PROJECTIONS_CLOUD_PROJECTION_H_
 #define SRC_PROJECTIONS_CLOUD_PROJECTION_H_
diff --git a/src/projections/projection_params.cpp b/src/projections/projection_params.cpp
index 2afcad4..daedc10 100644
--- a/src/projections/projection_params.cpp
+++ b/src/projections/projection_params.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "projections/projection_params.h"
 
diff --git a/src/projections/projection_params.h b/src/projections/projection_params.h
index 763739d..9018e74 100644
--- a/src/projections/projection_params.h
+++ b/src/projections/projection_params.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_PROJECTIONS_PROJECTION_PARAMS_H_
 #define SRC_PROJECTIONS_PROJECTION_PARAMS_H_
diff --git a/src/projections/ring_projection.cpp b/src/projections/ring_projection.cpp
index 067d482..8ec85a9 100644
--- a/src/projections/ring_projection.cpp
+++ b/src/projections/ring_projection.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "projections/ring_projection.h"
 
diff --git a/src/projections/ring_projection.h b/src/projections/ring_projection.h
index 6a415ea..0bd9931 100644
--- a/src/projections/ring_projection.h
+++ b/src/projections/ring_projection.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_PROJECTIONS_RING_PROJECTION_H_
 #define SRC_PROJECTIONS_RING_PROJECTION_H_
diff --git a/src/projections/spherical_projection.cpp b/src/projections/spherical_projection.cpp
index b8ac0d2..8294102 100644
--- a/src/projections/spherical_projection.cpp
+++ b/src/projections/spherical_projection.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "projections/spherical_projection.h"
 
diff --git a/src/projections/spherical_projection.h b/src/projections/spherical_projection.h
index dcf6dc1..f6ffb3b 100644
--- a/src/projections/spherical_projection.h
+++ b/src/projections/spherical_projection.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_PROJECTIONS_SPHERICAL_PROJECTION_H_
 #define SRC_PROJECTIONS_SPHERICAL_PROJECTION_H_
diff --git a/src/qt/CMakeLists.txt b/src/qt/CMakeLists.txt
index 7bebdf4..5fa8ea6 100644
--- a/src/qt/CMakeLists.txt
+++ b/src/qt/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 cmake_minimum_required (VERSION 3.1 FATAL_ERROR)
 
 add_subdirectory(drawables)
diff --git a/src/qt/drawables/CMakeLists.txt b/src/qt/drawables/CMakeLists.txt
index b8e3e6c..3557c2c 100644
--- a/src/qt/drawables/CMakeLists.txt
+++ b/src/qt/drawables/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(drawable SHARED
             drawable_cloud.cpp
             object_painter.cpp
diff --git a/src/qt/drawables/drawable.h b/src/qt/drawables/drawable.h
index 3e25339..2c90344 100644
--- a/src/qt/drawables/drawable.h
+++ b/src/qt/drawables/drawable.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_DRAWABLES_DRAWABLE_H_
 #define SRC_QT_DRAWABLES_DRAWABLE_H_
diff --git a/src/qt/drawables/drawable_cloud.cpp b/src/qt/drawables/drawable_cloud.cpp
index 515fa1b..5fda163 100644
--- a/src/qt/drawables/drawable_cloud.cpp
+++ b/src/qt/drawables/drawable_cloud.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./drawable_cloud.h"
 #include <GL/glut.h>
diff --git a/src/qt/drawables/drawable_cloud.h b/src/qt/drawables/drawable_cloud.h
index 10316d0..1417145 100644
--- a/src/qt/drawables/drawable_cloud.h
+++ b/src/qt/drawables/drawable_cloud.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #pragma once
 
diff --git a/src/qt/drawables/drawable_cube.cpp b/src/qt/drawables/drawable_cube.cpp
index 556fe84..61fdd81 100644
--- a/src/qt/drawables/drawable_cube.cpp
+++ b/src/qt/drawables/drawable_cube.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./drawable_cube.h"
 #include <GL/glut.h>
diff --git a/src/qt/drawables/drawable_cube.h b/src/qt/drawables/drawable_cube.h
index efc1cc7..871f1dc 100644
--- a/src/qt/drawables/drawable_cube.h
+++ b/src/qt/drawables/drawable_cube.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_DRAWABLES_DRAWABLE_CUBE_H_
 #define SRC_QT_DRAWABLES_DRAWABLE_CUBE_H_
diff --git a/src/qt/drawables/drawable_polygon3d.cpp b/src/qt/drawables/drawable_polygon3d.cpp
index df6a3a6..da53689 100644
--- a/src/qt/drawables/drawable_polygon3d.cpp
+++ b/src/qt/drawables/drawable_polygon3d.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./drawable_polygon3d.h"
 #include <GL/glut.h>
diff --git a/src/qt/drawables/drawable_polygon3d.h b/src/qt/drawables/drawable_polygon3d.h
index f72967f..eed13cf 100644
--- a/src/qt/drawables/drawable_polygon3d.h
+++ b/src/qt/drawables/drawable_polygon3d.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_DRAWABLES_DRAWABLE_POLYGON3D_H_
 #define SRC_QT_DRAWABLES_DRAWABLE_POLYGON3D_H_
diff --git a/src/qt/drawables/object_painter.cpp b/src/qt/drawables/object_painter.cpp
index 016d1b9..c329834 100644
--- a/src/qt/drawables/object_painter.cpp
+++ b/src/qt/drawables/object_painter.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./object_painter.h"
 
diff --git a/src/qt/drawables/object_painter.h b/src/qt/drawables/object_painter.h
index a4818f4..1b3d8c8 100644
--- a/src/qt/drawables/object_painter.h
+++ b/src/qt/drawables/object_painter.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_DRAWABLES_OBJECT_PAINTER_H_
 #define SRC_QT_DRAWABLES_OBJECT_PAINTER_H_
diff --git a/src/qt/main.cpp b/src/qt/main.cpp
index 9e5fc5f..ebc09b7 100644
--- a/src/qt/main.cpp
+++ b/src/qt/main.cpp
@@ -1,3 +1,23 @@
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+
 #include <QApplication>
 #include <QMainWindow>
 
diff --git a/src/qt/utils/utils.cpp b/src/qt/utils/utils.cpp
index 1761de3..2297234 100644
--- a/src/qt/utils/utils.cpp
+++ b/src/qt/utils/utils.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./utils.h"
 
diff --git a/src/qt/utils/utils.h b/src/qt/utils/utils.h
index 6385427..e7b3535 100644
--- a/src/qt/utils/utils.h
+++ b/src/qt/utils/utils.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_UTILS_UTILS_H_
 #define SRC_QT_UTILS_UTILS_H_
diff --git a/src/qt/viewer/CMakeLists.txt b/src/qt/viewer/CMakeLists.txt
index 678f8ea..5b2cb1b 100644
--- a/src/qt/viewer/CMakeLists.txt
+++ b/src/qt/viewer/CMakeLists.txt
@@ -1,7 +1,11 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## GNU-GPL licence that follows one of libQGLViewer.
+
 add_library(viewer SHARED viewer.cpp)
 target_link_libraries(viewer
                       drawable
                       ${QGLVIEWER_LIBRARY}
                       ${MY_QT_LIBRARIES}
                       ${OPENGL_gl_LIBRARY}
-                      ${OPENGL_glu_LIBRARY})
\ No newline at end of file
+                      ${OPENGL_glu_LIBRARY})
diff --git a/src/qt/viewer/viewer.cpp b/src/qt/viewer/viewer.cpp
index 8245977..c57f310 100644
--- a/src/qt/viewer/viewer.cpp
+++ b/src/qt/viewer/viewer.cpp
@@ -1,6 +1,6 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// GNU-GPL licence that follows one of libQGLViewer.
 
 #include "./viewer.h"
 
diff --git a/src/qt/viewer/viewer.h b/src/qt/viewer/viewer.h
index 34a6096..5fbce55 100644
--- a/src/qt/viewer/viewer.h
+++ b/src/qt/viewer/viewer.h
@@ -1,6 +1,6 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// GNU-GPL licence that follows one of libQGLViewer.
 
 #ifndef SRC_QT_VIEWER_VIEWER_H_
 #define SRC_QT_VIEWER_VIEWER_H_
diff --git a/src/qt/widgets/CMakeLists.txt b/src/qt/widgets/CMakeLists.txt
index aa4f7a2..8dd33af 100644
--- a/src/qt/widgets/CMakeLists.txt
+++ b/src/qt/widgets/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(QT_SOURCES
diff --git a/src/qt/widgets/base_viewer_widget.cpp b/src/qt/widgets/base_viewer_widget.cpp
index b63114b..5d5bb26 100644
--- a/src/qt/widgets/base_viewer_widget.cpp
+++ b/src/qt/widgets/base_viewer_widget.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "qt/widgets/base_viewer_widget.h"
 
@@ -8,7 +24,7 @@
 
 BaseViewerWidget::BaseViewerWidget(QWidget *parent) : QWidget(parent) {}
 
-bool BaseViewerWidget::eventFilter(QObject *object, QEvent *event) {
+bool BaseViewerWidget::eventFilter(QObject *, QEvent *event) {
   if (event->type() == QEvent::KeyPress) {
     QKeyEvent *keyEvent = static_cast<QKeyEvent *>(event);
     if (keyEvent->key() == Qt::Key_Right || keyEvent->key() == Qt::Key_Left) {
diff --git a/src/qt/widgets/base_viewer_widget.h b/src/qt/widgets/base_viewer_widget.h
index ed51708..50256ec 100644
--- a/src/qt/widgets/base_viewer_widget.h
+++ b/src/qt/widgets/base_viewer_widget.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #pragma once
 
diff --git a/src/qt/widgets/opengl_folder_player.cpp b/src/qt/widgets/opengl_folder_player.cpp
index ceacf0f..b63f1bf 100644
--- a/src/qt/widgets/opengl_folder_player.cpp
+++ b/src/qt/widgets/opengl_folder_player.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./opengl_folder_player.h"
 
diff --git a/src/qt/widgets/opengl_folder_player.h b/src/qt/widgets/opengl_folder_player.h
index 736335e..613862f 100644
--- a/src/qt/widgets/opengl_folder_player.h
+++ b/src/qt/widgets/opengl_folder_player.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_QT_PCL_FOLDER_PLAYER_H_
 #define SRC_QT_PCL_FOLDER_PLAYER_H_
diff --git a/src/qt/widgets/tabbed_widget.cpp b/src/qt/widgets/tabbed_widget.cpp
index 9fceb7a..41dee1d 100644
--- a/src/qt/widgets/tabbed_widget.cpp
+++ b/src/qt/widgets/tabbed_widget.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./tabbed_widget.h"
 
diff --git a/src/qt/widgets/tabbed_widget.h b/src/qt/widgets/tabbed_widget.h
index 1c7a7de..4a7197e 100644
--- a/src/qt/widgets/tabbed_widget.h
+++ b/src/qt/widgets/tabbed_widget.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #pragma once
 
diff --git a/src/ros_bridge/CMakeLists.txt b/src/ros_bridge/CMakeLists.txt
index 169b3ca..2d5a82e 100644
--- a/src/ros_bridge/CMakeLists.txt
+++ b/src/ros_bridge/CMakeLists.txt
@@ -1,5 +1,25 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(ros_bridge SHARED cloud_odom_ros_subscriber.cpp)
 target_link_libraries(ros_bridge
                       identifiable
                       ${catkin_LIBRARIES}
-                      ${PCL_LIBRARIES})
\ No newline at end of file
+                      ${PCL_LIBRARIES})
diff --git a/src/ros_bridge/cloud_odom_ros_subscriber.cpp b/src/ros_bridge/cloud_odom_ros_subscriber.cpp
index c37284d..fc30b2f 100644
--- a/src/ros_bridge/cloud_odom_ros_subscriber.cpp
+++ b/src/ros_bridge/cloud_odom_ros_subscriber.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "ros_bridge/cloud_odom_ros_subscriber.h"
 #include <eigen_conversions/eigen_msg.h>
diff --git a/src/ros_bridge/cloud_odom_ros_subscriber.h b/src/ros_bridge/cloud_odom_ros_subscriber.h
index ccce6e4..8ba133b 100644
--- a/src/ros_bridge/cloud_odom_ros_subscriber.h
+++ b/src/ros_bridge/cloud_odom_ros_subscriber.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_ROS_BRIDGE_CLOUD_ODOM_ROS_SUBSCRIBER_H_
 #define SRC_ROS_BRIDGE_CLOUD_ODOM_ROS_SUBSCRIBER_H_
diff --git a/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt
index efd336d..7872079 100644
--- a/src/utils/CMakeLists.txt
+++ b/src/utils/CMakeLists.txt
@@ -1,3 +1,23 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## Permission is hereby granted, free of charge, to any person obtaining a
+## copy of this software and associated documentation files (the "Software"),
+## to deal in the Software without restriction, including without limitation
+## the rights to use, copy, modify, merge, publish, distribute, sublicense,
+## and/or sell copies of the Software, and to permit persons to whom the
+## Software is furnished to do so, subject to the following conditions:
+##
+## The above copyright notice and this permission notice shall be included in
+## all copies or substantial portions of the Software.
+##
+## THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+## IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+## FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+## AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+## LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+## FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+## DEALINGS IN THE SOFTWARE.
+
 add_library(cloud SHARED cloud.cpp rich_point.cpp)
 target_link_libraries(cloud
                       projections
diff --git a/src/utils/bbox.cpp b/src/utils/bbox.cpp
index c515ade..c06b7b8 100644
--- a/src/utils/bbox.cpp
+++ b/src/utils/bbox.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "utils/bbox.h"
 
diff --git a/src/utils/bbox.h b/src/utils/bbox.h
index e362b0a..8fb0379 100644
--- a/src/utils/bbox.h
+++ b/src/utils/bbox.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_BBOX_H_
 #define SRC_UTILS_BBOX_H_
diff --git a/src/utils/cloud.cpp b/src/utils/cloud.cpp
index 8bac941..641bd8d 100644
--- a/src/utils/cloud.cpp
+++ b/src/utils/cloud.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "utils/cloud.h"
 
diff --git a/src/utils/cloud.h b/src/utils/cloud.h
index 0a4c809..fa8d00e 100644
--- a/src/utils/cloud.h
+++ b/src/utils/cloud.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_CLOUD_H_
 #define SRC_UTILS_CLOUD_H_
diff --git a/src/utils/folder_reader.cpp b/src/utils/folder_reader.cpp
index f41a001..460a053 100644
--- a/src/utils/folder_reader.cpp
+++ b/src/utils/folder_reader.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./folder_reader.h"
 
diff --git a/src/utils/folder_reader.h b/src/utils/folder_reader.h
index fc68371..6252f4d 100644
--- a/src/utils/folder_reader.h
+++ b/src/utils/folder_reader.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_FOLDER_READER_H_
 #define SRC_UTILS_FOLDER_READER_H_
diff --git a/src/utils/mem_utils.h b/src/utils/mem_utils.h
index fd0016a..acb9d3b 100644
--- a/src/utils/mem_utils.h
+++ b/src/utils/mem_utils.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_MEM_UTILS_H_
 #define SRC_UTILS_MEM_UTILS_H_
diff --git a/src/utils/pose.h b/src/utils/pose.h
index e928d66..8670141 100644
--- a/src/utils/pose.h
+++ b/src/utils/pose.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_POSE_H_
 #define SRC_UTILS_POSE_H_
diff --git a/src/utils/radians.h b/src/utils/radians.h
index 3fe72e9..166eeb1 100644
--- a/src/utils/radians.h
+++ b/src/utils/radians.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_RADIANS_H_
 #define SRC_UTILS_RADIANS_H_
diff --git a/src/utils/rich_point.cpp b/src/utils/rich_point.cpp
index e0e267f..60e1913 100644
--- a/src/utils/rich_point.cpp
+++ b/src/utils/rich_point.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "utils/rich_point.h"
 
diff --git a/src/utils/rich_point.h b/src/utils/rich_point.h
index 86abdf9..09f659a 100644
--- a/src/utils/rich_point.h
+++ b/src/utils/rich_point.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_RICH_POINT_H_
 #define SRC_UTILS_RICH_POINT_H_
diff --git a/src/utils/timer.h b/src/utils/timer.h
index 04b5733..3566aa0 100644
--- a/src/utils/timer.h
+++ b/src/utils/timer.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_TIMER_H_
 #define SRC_UTILS_TIMER_H_
diff --git a/src/utils/useful_typedefs.h b/src/utils/useful_typedefs.h
index 262016c..9f31de3 100644
--- a/src/utils/useful_typedefs.h
+++ b/src/utils/useful_typedefs.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_USEFUL_TYPEDEFS_H_
 #define SRC_UTILS_USEFUL_TYPEDEFS_H_
diff --git a/src/utils/velodyne_utils.cpp b/src/utils/velodyne_utils.cpp
index 2547492..116e0c9 100644
--- a/src/utils/velodyne_utils.cpp
+++ b/src/utils/velodyne_utils.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "utils/velodyne_utils.h"
 
diff --git a/src/utils/velodyne_utils.h b/src/utils/velodyne_utils.h
index 3450ddb..7b93395 100644
--- a/src/utils/velodyne_utils.h
+++ b/src/utils/velodyne_utils.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_UTILS_VELODYNE_UTILS_H_
 #define SRC_UTILS_VELODYNE_UTILS_H_
diff --git a/src/visualization/CMakeLists.txt b/src/visualization/CMakeLists.txt
index b07f7c8..bacd21e 100644
--- a/src/visualization/CMakeLists.txt
+++ b/src/visualization/CMakeLists.txt
@@ -1,3 +1,7 @@
+## Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+##
+## GNU-GPL licence that follows one of libQGLViewer.
+
 add_library(visualization SHARED visualizer.cpp)
 target_link_libraries(visualization
                       identifiable
diff --git a/src/visualization/cloud_saver.cpp b/src/visualization/cloud_saver.cpp
index fda6143..b63918e 100644
--- a/src/visualization/cloud_saver.cpp
+++ b/src/visualization/cloud_saver.cpp
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "visualization/cloud_saver.h"
 
@@ -20,7 +25,7 @@
 namespace depth_clustering {
 
 void VectorCloudSaver::OnNewObjectReceived(
-    const std::unordered_map<uint16_t, Cloud>& clouds, const int id) {
+    const std::unordered_map<uint16_t, Cloud>& clouds, const int) {
   if (_folder_counter++ % _save_every > 0) {
     // nope, skip this one
     return;
@@ -48,7 +53,7 @@ std::string VectorCloudSaver::WithLeadingZerosStr(int num) {
 }
 
 void DepthMapSaver::OnNewObjectReceived(
-    const std::unordered_map<uint16_t, cv::Mat>& clusters, const int id) {
+    const std::unordered_map<uint16_t, cv::Mat>& clusters, const int) {
   if (_folder_counter++ % _save_every > 0) {
     // nope, skip this one
     return;
@@ -74,7 +79,7 @@ std::string DepthMapSaver::WithLeadingZerosStr(int num) {
       .append(counter_str);
 }
 
-void CloudSaver::OnNewObjectReceived(const Cloud& cloud, const int id) {
+void CloudSaver::OnNewObjectReceived(const Cloud& cloud, const int) {
   pcl::io::savePCDFileBinary(
       _prefix + "_" + std::to_string(_counter++) + ".pcd", *(cloud.ToPcl()));
 }
diff --git a/src/visualization/cloud_saver.h b/src/visualization/cloud_saver.h
index fc86c72..2511009 100644
--- a/src/visualization/cloud_saver.h
+++ b/src/visualization/cloud_saver.h
@@ -1,17 +1,22 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_VISUALIZATION_CLOUD_SAVER_H_
 #define SRC_VISUALIZATION_CLOUD_SAVER_H_
diff --git a/src/visualization/visualizer.cpp b/src/visualization/visualizer.cpp
index fa215c3..88ed417 100644
--- a/src/visualization/visualizer.cpp
+++ b/src/visualization/visualizer.cpp
@@ -1,17 +1,6 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// GNU-GPL licence that follows one of libQGLViewer.
 
 #include "./visualizer.h"
 
@@ -143,7 +132,7 @@ void Visualizer::DrawCube(const Eigen::Vector3f& center,
 
 Visualizer::~Visualizer() {}
 
-void Visualizer::OnNewObjectReceived(const Cloud& cloud, const int id) {
+void Visualizer::OnNewObjectReceived(const Cloud& cloud, const int) {
   lock_guard<mutex> guard(_cloud_mutex);
   _cloud = cloud;
 }
@@ -156,7 +145,7 @@ unordered_map<uint16_t, Cloud> ObjectPtrStorer::object_clouds() const {
 }
 
 void ObjectPtrStorer::OnNewObjectReceived(
-    const unordered_map<uint16_t, Cloud>& clouds, const int id) {
+    const unordered_map<uint16_t, Cloud>& clouds, const int) {
   lock_guard<mutex> guard(_cluster_mutex);
   _obj_clouds = clouds;
 
diff --git a/src/visualization/visualizer.h b/src/visualization/visualizer.h
index e2d5fb5..a28a0bb 100644
--- a/src/visualization/visualizer.h
+++ b/src/visualization/visualizer.h
@@ -1,17 +1,6 @@
-// Copyright (C) 2017  I. Bogoslavskyi, C. Stachniss, University of Bonn
-
-// This program is free software: you can redistribute it and/or modify it
-// under the terms of the GNU General Public License as published by the Free
-// Software Foundation, either version 3 of the License, or (at your option)
-// any later version.
-
-// This program is distributed in the hope that it will be useful, but WITHOUT
-// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-// more details.
-
-// You should have received a copy of the GNU General Public License along
-// with this program.  If not, see <http://www.gnu.org/licenses/>.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// GNU-GPL licence that follows one of libQGLViewer.
 
 #ifndef SRC_VISUALIZATION_VISUALIZER_H_
 #define SRC_VISUALIZATION_VISUALIZER_H_
diff --git a/test/helper_funcs.cpp b/test/helper_funcs.cpp
index 9d9b3b4..3a8543c 100644
--- a/test/helper_funcs.cpp
+++ b/test/helper_funcs.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "./helper_funcs.h"
 #include <math.h>
diff --git a/test/helper_funcs.h b/test/helper_funcs.h
index e631bdc..e27b2e2 100644
--- a/test/helper_funcs.h
+++ b/test/helper_funcs.h
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #ifndef SRC_TEST_HELPER_FUNCS_H_
 #define SRC_TEST_HELPER_FUNCS_H_
diff --git a/test/test_angle_diff.cpp b/test/test_angle_diff.cpp
index 40e5af0..55a7439 100644
--- a/test/test_angle_diff.cpp
+++ b/test/test_angle_diff.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 
@@ -35,7 +51,7 @@ TEST(AngleDiff, AlphasRows) {
                  SpanParams::Direction::HORIZONTAL);
   TestAngleDiff angle_diff_helper(&depth_image, &params);
   auto alphas_rows = angle_diff_helper.GetRowAlphas();
-  EXPECT_EQ(4, alphas_rows.size());
+  EXPECT_EQ(4ul, alphas_rows.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[2], 0.001);
@@ -52,7 +68,7 @@ TEST(AngleDiff, AlphasCols) {
                  SpanParams::Direction::HORIZONTAL);
   TestAngleDiff angle_diff_helper(&depth_image, &params);
   auto alphas_cols = angle_diff_helper.GetColAlphas();
-  EXPECT_EQ(4, alphas_cols.size());
+  EXPECT_EQ(4ul, alphas_cols.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[2], 0.001);
diff --git a/test/test_cloud.cpp b/test/test_cloud.cpp
index be58767..61bdc34 100644
--- a/test/test_cloud.cpp
+++ b/test/test_cloud.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <Eigen/Core>
@@ -24,7 +40,7 @@ TEST(CloudTest, InitEmpty) {
   EXPECT_NEAR(0.0, cloud.pose().x(), eps);
   EXPECT_NEAR(0.0, cloud.pose().y(), eps);
   EXPECT_NEAR(0.0, cloud.pose().theta(), eps);
-  EXPECT_EQ(0, cloud.size());
+  EXPECT_EQ(0ul, cloud.size());
 }
 
 TEST(CloudTest, InitPose) {
@@ -37,7 +53,7 @@ TEST(CloudTest, InitPose) {
   EXPECT_NEAR(1, cloud.pose().x(), eps);
   EXPECT_NEAR(2, cloud.pose().y(), eps);
   EXPECT_NEAR(M_PI / 3, cloud.pose().theta(), eps);
-  EXPECT_EQ(0, cloud.size());
+  EXPECT_EQ(0ul, cloud.size());
 }
 
 TEST(CloudTest, InitCloudWithPose) {
@@ -51,7 +67,7 @@ TEST(CloudTest, InitCloudWithPose) {
   EXPECT_NEAR(1, cloud.pose().x(), eps);
   EXPECT_NEAR(2, cloud.pose().y(), eps);
   EXPECT_NEAR(M_PI / 3, cloud.pose().theta(), eps);
-  EXPECT_EQ(1, cloud.size());
+  EXPECT_EQ(1ul, cloud.size());
 }
 
 TEST(CloudTest, CloudCopy) {
@@ -70,7 +86,7 @@ TEST(CloudTest, CloudCopy) {
   EXPECT_NEAR(1, cloud_copy[0].x(), eps);
   EXPECT_NEAR(2, cloud_copy[0].y(), eps);
   EXPECT_NEAR(3, cloud_copy[0].z(), eps);
-  EXPECT_EQ(1, cloud.size());
+  EXPECT_EQ(1ul, cloud.size());
 }
 
 TEST(CloudTest, EmptyCloudProjectionPixels) {
diff --git a/test/test_cloud_projection.cpp b/test/test_cloud_projection.cpp
index 41dca8a..9b813bc 100644
--- a/test/test_cloud_projection.cpp
+++ b/test/test_cloud_projection.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2015.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <opencv2/opencv.hpp>
@@ -38,18 +54,18 @@ TEST(CloudProjectionTest, SingleLine) {
   cloud_ptr->InitProjection(params);
   auto projection = cloud_ptr->projection_ptr();
 
-  EXPECT_EQ(1, projection->rows());
-  EXPECT_EQ(10, projection->cols());
-  EXPECT_EQ(0, projection->at(0, 0).points().front());
-  EXPECT_EQ(1, projection->at(0, 1).points().front());
-  EXPECT_EQ(2, projection->at(0, 2).points().front());
-  EXPECT_EQ(3, projection->at(0, 3).points().front());
-  EXPECT_EQ(4, projection->at(0, 4).points().front());
-  EXPECT_EQ(5, projection->at(0, 5).points().front());
-  EXPECT_EQ(6, projection->at(0, 6).points().front());
-  EXPECT_EQ(7, projection->at(0, 7).points().front());
-  EXPECT_EQ(8, projection->at(0, 8).points().front());
-  EXPECT_EQ(9, projection->at(0, 9).points().front());
+  EXPECT_EQ(1ul, projection->rows());
+  EXPECT_EQ(10ul, projection->cols());
+  EXPECT_EQ(0ul, projection->at(0, 0).points().front());
+  EXPECT_EQ(1ul, projection->at(0, 1).points().front());
+  EXPECT_EQ(2ul, projection->at(0, 2).points().front());
+  EXPECT_EQ(3ul, projection->at(0, 3).points().front());
+  EXPECT_EQ(4ul, projection->at(0, 4).points().front());
+  EXPECT_EQ(5ul, projection->at(0, 5).points().front());
+  EXPECT_EQ(6ul, projection->at(0, 6).points().front());
+  EXPECT_EQ(7ul, projection->at(0, 7).points().front());
+  EXPECT_EQ(8ul, projection->at(0, 8).points().front());
+  EXPECT_EQ(9ul, projection->at(0, 9).points().front());
 }
 
 TEST(CloudProjectionTest, PlanePatch) {
@@ -77,37 +93,37 @@ TEST(CloudProjectionTest, PlanePatch) {
   SphericalProjection storage(params);
   storage.InitFromPoints(cloud_ptr->points());
 
-  EXPECT_EQ(5, storage.rows());
-  EXPECT_EQ(5, storage.cols());
-  EXPECT_EQ(0, storage.at(0, 0).points().front());
-  EXPECT_EQ(1, storage.at(0, 1).points().front());
-  EXPECT_EQ(2, storage.at(0, 2).points().front());
-  EXPECT_EQ(3, storage.at(0, 3).points().front());
-  EXPECT_EQ(4, storage.at(0, 4).points().front());
-
-  EXPECT_EQ(5, storage.at(1, 0).points().front());
-  EXPECT_EQ(6, storage.at(1, 1).points().front());
-  EXPECT_EQ(7, storage.at(1, 2).points().front());
-  EXPECT_EQ(8, storage.at(1, 3).points().front());
-  EXPECT_EQ(9, storage.at(1, 4).points().front());
-
-  EXPECT_EQ(10, storage.at(2, 0).points().front());
-  EXPECT_EQ(11, storage.at(2, 1).points().front());
-  EXPECT_EQ(12, storage.at(2, 2).points().front());
-  EXPECT_EQ(13, storage.at(2, 3).points().front());
-  EXPECT_EQ(14, storage.at(2, 4).points().front());
-
-  EXPECT_EQ(15, storage.at(3, 0).points().front());
-  EXPECT_EQ(16, storage.at(3, 1).points().front());
-  EXPECT_EQ(17, storage.at(3, 2).points().front());
-  EXPECT_EQ(18, storage.at(3, 3).points().front());
-  EXPECT_EQ(19, storage.at(3, 4).points().front());
-
-  EXPECT_EQ(20, storage.at(4, 0).points().front());
-  EXPECT_EQ(21, storage.at(4, 1).points().front());
-  EXPECT_EQ(22, storage.at(4, 2).points().front());
-  EXPECT_EQ(23, storage.at(4, 3).points().front());
-  EXPECT_EQ(24, storage.at(4, 4).points().front());
+  EXPECT_EQ(5ul, storage.rows());
+  EXPECT_EQ(5ul, storage.cols());
+  EXPECT_EQ(0ul, storage.at(0, 0).points().front());
+  EXPECT_EQ(1ul, storage.at(0, 1).points().front());
+  EXPECT_EQ(2ul, storage.at(0, 2).points().front());
+  EXPECT_EQ(3ul, storage.at(0, 3).points().front());
+  EXPECT_EQ(4ul, storage.at(0, 4).points().front());
+
+  EXPECT_EQ(5ul, storage.at(1, 0).points().front());
+  EXPECT_EQ(6ul, storage.at(1, 1).points().front());
+  EXPECT_EQ(7ul, storage.at(1, 2).points().front());
+  EXPECT_EQ(8ul, storage.at(1, 3).points().front());
+  EXPECT_EQ(9ul, storage.at(1, 4).points().front());
+
+  EXPECT_EQ(10ul, storage.at(2, 0).points().front());
+  EXPECT_EQ(11ul, storage.at(2, 1).points().front());
+  EXPECT_EQ(12ul, storage.at(2, 2).points().front());
+  EXPECT_EQ(13ul, storage.at(2, 3).points().front());
+  EXPECT_EQ(14ul, storage.at(2, 4).points().front());
+
+  EXPECT_EQ(15ul, storage.at(3, 0).points().front());
+  EXPECT_EQ(16ul, storage.at(3, 1).points().front());
+  EXPECT_EQ(17ul, storage.at(3, 2).points().front());
+  EXPECT_EQ(18ul, storage.at(3, 3).points().front());
+  EXPECT_EQ(19ul, storage.at(3, 4).points().front());
+
+  EXPECT_EQ(20ul, storage.at(4, 0).points().front());
+  EXPECT_EQ(21ul, storage.at(4, 1).points().front());
+  EXPECT_EQ(22ul, storage.at(4, 2).points().front());
+  EXPECT_EQ(23ul, storage.at(4, 3).points().front());
+  EXPECT_EQ(24ul, storage.at(4, 4).points().front());
 }
 
 TEST(CloudProjectionTest, Circle) {
@@ -130,18 +146,18 @@ TEST(CloudProjectionTest, Circle) {
   SphericalProjection storage(params);
   storage.InitFromPoints(cloud_ptr->points());
 
-  EXPECT_EQ(1, storage.rows());
-  EXPECT_EQ(12, storage.cols());
-  EXPECT_EQ(0, storage.at(0, 0).points().front());
-  EXPECT_EQ(1, storage.at(0, 1).points().front());
-  EXPECT_EQ(2, storage.at(0, 2).points().front());
-  EXPECT_EQ(3, storage.at(0, 3).points().front());
-  EXPECT_EQ(4, storage.at(0, 4).points().front());
-  EXPECT_EQ(5, storage.at(0, 5).points().front());
-  EXPECT_EQ(6, storage.at(0, 6).points().front());
-  EXPECT_EQ(7, storage.at(0, 7).points().front());
-  EXPECT_EQ(8, storage.at(0, 8).points().front());
-  EXPECT_EQ(9, storage.at(0, 9).points().front());
+  EXPECT_EQ(1ul, storage.rows());
+  EXPECT_EQ(12ul, storage.cols());
+  EXPECT_EQ(0ul, storage.at(0, 0).points().front());
+  EXPECT_EQ(1ul, storage.at(0, 1).points().front());
+  EXPECT_EQ(2ul, storage.at(0, 2).points().front());
+  EXPECT_EQ(3ul, storage.at(0, 3).points().front());
+  EXPECT_EQ(4ul, storage.at(0, 4).points().front());
+  EXPECT_EQ(5ul, storage.at(0, 5).points().front());
+  EXPECT_EQ(6ul, storage.at(0, 6).points().front());
+  EXPECT_EQ(7ul, storage.at(0, 7).points().front());
+  EXPECT_EQ(8ul, storage.at(0, 8).points().front());
+  EXPECT_EQ(9ul, storage.at(0, 9).points().front());
 }
 
 TEST(CloudProjectionTest, BigCylinder) {
@@ -174,15 +190,15 @@ TEST(CloudProjectionTest, BigCylinder) {
   SphericalProjection storage(params);
   storage.InitFromPoints(cloud_ptr->points());
 
-  EXPECT_EQ(12, storage.rows());
-  EXPECT_EQ(12, storage.cols());
+  EXPECT_EQ(12ul, storage.rows());
+  EXPECT_EQ(12ul, storage.cols());
 
   // first 5 points
-  EXPECT_EQ(0, storage.at(0, 0).points().front());
-  EXPECT_EQ(1, storage.at(0, 1).points().front());
-  EXPECT_EQ(2, storage.at(0, 2).points().front());
-  EXPECT_EQ(3, storage.at(0, 3).points().front());
-  EXPECT_EQ(4, storage.at(0, 4).points().front());
+  EXPECT_EQ(0ul, storage.at(0, 0).points().front());
+  EXPECT_EQ(1ul, storage.at(0, 1).points().front());
+  EXPECT_EQ(2ul, storage.at(0, 2).points().front());
+  EXPECT_EQ(3ul, storage.at(0, 3).points().front());
+  EXPECT_EQ(4ul, storage.at(0, 4).points().front());
 }
 
 TEST(CloudProjectionTest, FullSphere) {
@@ -217,15 +233,15 @@ TEST(CloudProjectionTest, FullSphere) {
   Mat image = storage.depth_image();
   cv::imwrite("sphere.png", image);
 
-  EXPECT_EQ(12, storage.rows());
-  EXPECT_EQ(12, storage.cols());
+  EXPECT_EQ(12ul, storage.rows());
+  EXPECT_EQ(12ul, storage.cols());
 
   // first 5 points
-  EXPECT_EQ(0, storage.at(0, 0).points().front());
-  EXPECT_EQ(1, storage.at(0, 1).points().front());
-  EXPECT_EQ(2, storage.at(0, 2).points().front());
-  EXPECT_EQ(3, storage.at(0, 3).points().front());
-  EXPECT_EQ(4, storage.at(0, 4).points().front());
+  EXPECT_EQ(0ul, storage.at(0, 0).points().front());
+  EXPECT_EQ(1ul, storage.at(0, 1).points().front());
+  EXPECT_EQ(2ul, storage.at(0, 2).points().front());
+  EXPECT_EQ(3ul, storage.at(0, 3).points().front());
+  EXPECT_EQ(4ul, storage.at(0, 4).points().front());
 
   float eps = 0.001;
   EXPECT_NEAR(image.at<float>(0, 0), radius, eps);
@@ -268,8 +284,8 @@ TEST(CloudProjectionTest, FromDepthImage) {
   auto cloud = Cloud::FromImage(image, params);
   auto projection = cloud->projection_ptr();
   cv::Mat image_res = projection->depth_image();
-  EXPECT_EQ(10, projection->rows());
-  EXPECT_EQ(10, projection->cols());
+  EXPECT_EQ(10ul, projection->rows());
+  EXPECT_EQ(10ul, projection->cols());
   for (int i = 0; i < 10; ++i) {
     EXPECT_EQ(image.at<float>(i, 0), image_res.at<float>(i, 0));
     EXPECT_EQ(image.at<float>(0, i), image_res.at<float>(0, i));
diff --git a/test/test_ground_remove.cpp b/test/test_ground_remove.cpp
index f36549c..9395f94 100644
--- a/test/test_ground_remove.cpp
+++ b/test/test_ground_remove.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 
diff --git a/test/test_identifiable.cpp b/test/test_identifiable.cpp
index 1ebf325..798e3d6 100644
--- a/test/test_identifiable.cpp
+++ b/test/test_identifiable.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <Eigen/Core>
diff --git a/test/test_image_clusterer.cpp b/test/test_image_clusterer.cpp
index 2578fe1..aa8246c 100644
--- a/test/test_image_clusterer.cpp
+++ b/test/test_image_clusterer.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <opencv/cv.h>
@@ -24,7 +40,7 @@ TEST(LinearImageLabeler, NeighborhoodTest) {
   Radians threshold = 20_deg;
   ProjectionParams params;
   LinearImageLabeler<1, 1> labeler(depth_image, params, threshold);
-  EXPECT_EQ(4, labeler.Neighborhood.size());
+  EXPECT_EQ(4ul, labeler.Neighborhood.size());
 
   EXPECT_EQ(-1, labeler.Neighborhood[0].row);
   EXPECT_EQ(0, labeler.Neighborhood[0].col);
@@ -45,7 +61,7 @@ TEST(LinearImageLabeler, NeighborhoodTestBigger) {
   Radians threshold = 20_deg;
   ProjectionParams params;
   LinearImageLabeler<2, 1> labeler(depth_image, params, threshold);
-  EXPECT_EQ(6, labeler.Neighborhood.size());
+  EXPECT_EQ(6ul, labeler.Neighborhood.size());
 
   EXPECT_EQ(-2, labeler.Neighborhood[0].row);
   EXPECT_EQ(0, labeler.Neighborhood[0].col);
diff --git a/test/test_line_dist_diff.cpp b/test/test_line_dist_diff.cpp
index 2b8e5b5..1889903 100644
--- a/test/test_line_dist_diff.cpp
+++ b/test/test_line_dist_diff.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 
@@ -35,7 +51,7 @@ TEST(LineDistDiff, AlphasRows) {
                  SpanParams::Direction::HORIZONTAL);
   TestLineDistDiff angle_diff_helper(&depth_image, &params);
   auto alphas_rows = angle_diff_helper.GetRowAlphas();
-  EXPECT_EQ(4, alphas_rows.size());
+  EXPECT_EQ(4ul, alphas_rows.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[2], 0.001);
@@ -52,7 +68,7 @@ TEST(LineDistDiff, AlphasCols) {
                  SpanParams::Direction::HORIZONTAL);
   TestLineDistDiff angle_diff_helper(&depth_image, &params);
   auto alphas_cols = angle_diff_helper.GetColAlphas();
-  EXPECT_EQ(4, alphas_cols.size());
+  EXPECT_EQ(4ul, alphas_cols.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[2], 0.001);
diff --git a/test/test_main.cpp b/test/test_main.cpp
index bf0ec76..cd71238 100644
--- a/test/test_main.cpp
+++ b/test/test_main.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 
diff --git a/test/test_pose.cpp b/test/test_pose.cpp
index 4902145..0e17546 100644
--- a/test/test_pose.cpp
+++ b/test/test_pose.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include "utils/pose.h"
 #include <Eigen/Core>
@@ -275,7 +291,6 @@ TEST(PoseTest, V2T2V) {
 // More: http://en.cppreference.com/w/cpp/error/assert
 #ifndef NDEBUG
 TEST(PoseDeathTest, TestLikelihood) {
-  double eps = 0.000001;
   Pose pose;
   ASSERT_DEATH(pose.SetLikelihood(2), "");
   ASSERT_DEATH(pose.SetLikelihood(-1), "");
diff --git a/test/test_proj_params.cpp b/test/test_proj_params.cpp
index 7da97d4..85c6d20 100644
--- a/test/test_proj_params.cpp
+++ b/test/test_proj_params.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 
@@ -27,77 +43,64 @@ TEST(TestProjParams, from_angle) {
   params.SetSpan(SpanParams(0_deg, 10_deg, 1_deg),
                  SpanParams::Direction::HORIZONTAL);
   EXPECT_EQ(true, params.valid());
-  EXPECT_EQ(0, params.ColFromAngle(0_deg));
-  EXPECT_EQ(1, params.ColFromAngle(1_deg));
-  EXPECT_EQ(2, params.ColFromAngle(2_deg));
-  EXPECT_EQ(3, params.ColFromAngle(3_deg));
-  EXPECT_EQ(4, params.ColFromAngle(4_deg));
-  EXPECT_EQ(5, params.ColFromAngle(5_deg));
-  EXPECT_EQ(6, params.ColFromAngle(6_deg));
-  EXPECT_EQ(7, params.ColFromAngle(7_deg));
-  EXPECT_EQ(8, params.ColFromAngle(8_deg));
-  EXPECT_EQ(9, params.ColFromAngle(9_deg));
-  EXPECT_EQ(9, params.ColFromAngle(10_deg));
+  EXPECT_EQ(0ul, params.ColFromAngle(0_deg));
+  EXPECT_EQ(1ul, params.ColFromAngle(1_deg));
+  EXPECT_EQ(2ul, params.ColFromAngle(2_deg));
+  EXPECT_EQ(3ul, params.ColFromAngle(3_deg));
+  EXPECT_EQ(4ul, params.ColFromAngle(4_deg));
+  EXPECT_EQ(5ul, params.ColFromAngle(5_deg));
+  EXPECT_EQ(6ul, params.ColFromAngle(6_deg));
+  EXPECT_EQ(7ul, params.ColFromAngle(7_deg));
+  EXPECT_EQ(8ul, params.ColFromAngle(8_deg));
+  EXPECT_EQ(9ul, params.ColFromAngle(9_deg));
+  EXPECT_EQ(9ul, params.ColFromAngle(10_deg));
 
-  EXPECT_EQ(0, params.RowFromAngle(0_deg));
-  EXPECT_EQ(1, params.RowFromAngle(1_deg));
-  EXPECT_EQ(2, params.RowFromAngle(2_deg));
-  EXPECT_EQ(3, params.RowFromAngle(3_deg));
-  EXPECT_EQ(4, params.RowFromAngle(4_deg));
-  EXPECT_EQ(5, params.RowFromAngle(5_deg));
-  EXPECT_EQ(6, params.RowFromAngle(6_deg));
-  EXPECT_EQ(7, params.RowFromAngle(7_deg));
-  EXPECT_EQ(8, params.RowFromAngle(8_deg));
-  EXPECT_EQ(9, params.RowFromAngle(9_deg));
-  EXPECT_EQ(9, params.RowFromAngle(10_deg));
+  EXPECT_EQ(0ul, params.RowFromAngle(0_deg));
+  EXPECT_EQ(1ul, params.RowFromAngle(1_deg));
+  EXPECT_EQ(2ul, params.RowFromAngle(2_deg));
+  EXPECT_EQ(3ul, params.RowFromAngle(3_deg));
+  EXPECT_EQ(4ul, params.RowFromAngle(4_deg));
+  EXPECT_EQ(5ul, params.RowFromAngle(5_deg));
+  EXPECT_EQ(6ul, params.RowFromAngle(6_deg));
+  EXPECT_EQ(7ul, params.RowFromAngle(7_deg));
+  EXPECT_EQ(8ul, params.RowFromAngle(8_deg));
+  EXPECT_EQ(9ul, params.RowFromAngle(9_deg));
+  EXPECT_EQ(9ul, params.RowFromAngle(10_deg));
 }
 
-// TEST(TestProjParams, from_file) {
-//   auto params_ptr = ProjectionParams::FromConfigFile(
-//       SOURCE_PATH + "/test/test_files/test_params.cfg");
-//   EXPECT_EQ(true, params_ptr->valid());
-//   EXPECT_EQ(64, params_ptr->rows());
-//   EXPECT_EQ(870, params_ptr->cols());
-//   float eps = 0.0001f;
-//   EXPECT_NEAR(360, params_ptr->h_span().ToDegrees(), eps);
-//   EXPECT_NEAR(26.9359, params_ptr->v_span().ToDegrees(), eps);
-//   EXPECT_NEAR(-1.9367, params_ptr->AngleFromRow(0).ToDegrees(), eps);
-//   EXPECT_NEAR(24.9992, params_ptr->AngleFromRow(63).ToDegrees(), eps);
-// }
-
 TEST(TestProjParams, velodyne_16) {
   auto params_ptr = ProjectionParams::VLP_16();
   EXPECT_EQ(true, params_ptr->valid());
-  EXPECT_EQ(16, params_ptr->rows());
-  EXPECT_EQ(870, params_ptr->cols());
+  EXPECT_EQ(16ul, params_ptr->rows());
+  EXPECT_EQ(870ul, params_ptr->cols());
 }
 
 TEST(TestProjParams, velodyne_64) {
   auto params_ptr = ProjectionParams::HDL_64();
   EXPECT_EQ(true, params_ptr->valid());
-  EXPECT_EQ(64, params_ptr->rows());
-  EXPECT_EQ(870, params_ptr->cols());
+  EXPECT_EQ(64ul, params_ptr->rows());
+  EXPECT_EQ(870ul, params_ptr->cols());
 }
 
 TEST(TestProjParams, velodyne_32) {
   auto params_ptr = ProjectionParams::HDL_32();
   EXPECT_EQ(true, params_ptr->valid());
-  EXPECT_EQ(32, params_ptr->rows());
-  EXPECT_EQ(870, params_ptr->cols());
+  EXPECT_EQ(32ul, params_ptr->rows());
+  EXPECT_EQ(870ul, params_ptr->cols());
 }
 
 TEST(TestProjParams, velodyne_64_equal) {
   auto params_ptr = ProjectionParams::HDL_64_EQUAL();
   EXPECT_EQ(true, params_ptr->valid());
-  EXPECT_EQ(64, params_ptr->rows());
-  EXPECT_EQ(870, params_ptr->cols());
+  EXPECT_EQ(64ul, params_ptr->rows());
+  EXPECT_EQ(870ul, params_ptr->cols());
 }
 
 
 TEST(TestProjParams, full_sphere) {
   auto params_ptr = ProjectionParams::FullSphere(1_deg);
   EXPECT_EQ(true, params_ptr->valid());
-  EXPECT_EQ(180, params_ptr->rows());
-  EXPECT_EQ(360, params_ptr->cols());
+  EXPECT_EQ(180ul, params_ptr->rows());
+  EXPECT_EQ(360ul, params_ptr->cols());
 }
 
diff --git a/test/test_radians.cpp b/test/test_radians.cpp
index 82f924b..507335a 100644
--- a/test/test_radians.cpp
+++ b/test/test_radians.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include "utils/radians.h"
diff --git a/test/test_rich_point.cpp b/test/test_rich_point.cpp
index 2b301b2..1432bc6 100644
--- a/test/test_rich_point.cpp
+++ b/test/test_rich_point.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <Eigen/Core>
diff --git a/test/test_sender_client.cpp b/test/test_sender_client.cpp
index f726af1..a96c6c7 100644
--- a/test/test_sender_client.cpp
+++ b/test/test_sender_client.cpp
@@ -1,6 +1,22 @@
-// Copyright Igor Bogoslavskyi, year 2017.
-// In case of any problems with the code please contact me.
-// Email: igor.bogoslavskyi@uni-bonn.de.
+// Copyright (C) 2020  I. Bogoslavskyi, C. Stachniss
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
 #include <Eigen/Core>
@@ -31,7 +47,7 @@ class TestClient : public AbstractClient<int> {
       : AbstractClient<int>(), _object_received(false), _sender_id(-1) {}
   virtual ~TestClient() {}
 
-  void OnNewObjectReceived(const int& object, const int sender_id) override {
+  void OnNewObjectReceived(const int&, const int sender_id) override {
     _object_received = true;
     _sender_id = sender_id;
   }
@@ -46,7 +62,7 @@ class TestTemplateClient : public AbstractClient<T> {
   TestTemplateClient() : AbstractClient<T>(), _object_received(false) {}
   virtual ~TestTemplateClient() {}
 
-  void OnNewObjectReceived(const T& object, const int sender_id) override {
+  void OnNewObjectReceived(const T&, const int) override {
     _object_received = true;
   }
 
@@ -84,16 +100,16 @@ TEST(SenderClientTest, SendAndReceive) {
   ASSERT_EQ(id + 3, client_simple_2.id());
   ASSERT_EQ(id + 4, client_templated.id());
 
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
   sender.AddClient(&client_simple_1);
-  ASSERT_EQ(1, sender.client_count());
+  ASSERT_EQ(1ul, sender.client_count());
   sender.AddClient(&client_simple_2);
-  ASSERT_EQ(2, sender.client_count());
+  ASSERT_EQ(2ul, sender.client_count());
   sender.AddClient(&client_templated);
-  ASSERT_EQ(3, sender.client_count());
+  ASSERT_EQ(3ul, sender.client_count());
 
   sender.RemoveClient(client_simple_2.id());
-  ASSERT_EQ(2, sender.client_count());
+  ASSERT_EQ(2ul, sender.client_count());
   int package = 42;
   ASSERT_EQ(false, client_simple_1._object_received);
   ASSERT_EQ(false, client_simple_2._object_received);
@@ -110,7 +126,7 @@ TEST(SenderClientTest, SendAndReceive) {
 
 TEST(SenderClientTest, RemoveNonExistingId) {
   TestSender sender;
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
   sender.RemoveClient(42);
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
 }