diff --git a/build/.built_by b/build/.built_by
new file mode 100644
index 00000000..2e212dd3
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index 00000000..e69de29b
diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt
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+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/CMakeFiles/3.26.3/CompilerIdC/a.out b/build/CMakeFiles/3.26.3/CompilerIdC/a.out
new file mode 100755
index 00000000..601952a5
Binary files /dev/null and b/build/CMakeFiles/3.26.3/CompilerIdC/a.out differ
diff --git a/build/CMakeFiles/3.26.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.26.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 00000000..746b1672
--- /dev/null
+++ b/build/CMakeFiles/3.26.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,855 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > 202002L
+  "23"
+#elif CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
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+      - "CMakeLists.txt:6 (project)"
+    message: |
+      Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
+      Compiler: /usr/bin/c++ 
+      Build flags: 
+      Id flags:  
+      
+      The output was:
+      0
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+      Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
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+# Target rules for targets named gmock
+
+# Build rule for target.
+gmock: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 gmock
+.PHONY : gmock
+
+# fast build rule for target.
+gmock/fast:
+	$(MAKE) $(MAKESILENT) -f gtest/googlemock/CMakeFiles/gmock.dir/build.make gtest/googlemock/CMakeFiles/gmock.dir/build
+.PHONY : gmock/fast
+
+#=============================================================================
+# Target rules for targets named gmock_main
+
+# Build rule for target.
+gmock_main: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 gmock_main
+.PHONY : gmock_main
+
+# fast build rule for target.
+gmock_main/fast:
+	$(MAKE) $(MAKESILENT) -f gtest/googlemock/CMakeFiles/gmock_main.dir/build.make gtest/googlemock/CMakeFiles/gmock_main.dir/build
+.PHONY : gmock_main/fast
+
+#=============================================================================
+# Target rules for targets named gtest
+
+# Build rule for target.
+gtest: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 gtest
+.PHONY : gtest
+
+# fast build rule for target.
+gtest/fast:
+	$(MAKE) $(MAKESILENT) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/build
+.PHONY : gtest/fast
+
+#=============================================================================
+# Target rules for targets named gtest_main
+
+# Build rule for target.
+gtest_main: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 gtest_main
+.PHONY : gtest_main
+
+# fast build rule for target.
+gtest_main/fast:
+	$(MAKE) $(MAKESILENT) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/build
+.PHONY : gtest_main/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... clean_test_results"
+	@echo "... download_extra_data"
+	@echo "... doxygen"
+	@echo "... run_tests"
+	@echo "... tests"
+	@echo "... gmock"
+	@echo "... gmock_main"
+	@echo "... gtest"
+	@echo "... gtest_main"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/atomic_configure/.rosinstall b/build/atomic_configure/.rosinstall
new file mode 100644
index 00000000..de11dd29
--- /dev/null
+++ b/build/atomic_configure/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/andremaurell/butia_ws/src/butia_vision/devel/setup.sh
diff --git a/build/atomic_configure/_setup_util.py b/build/atomic_configure/_setup_util.py
new file mode 100755
index 00000000..8335bd13
--- /dev/null
+++ b/build/atomic_configure/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/usr/local;/usr/local;/home/andremaurell/butia_ws/devel;/opt/ros/noetic;/usr/local;/usr/local;/usr/local;/usr/local'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/build/atomic_configure/env.sh b/build/atomic_configure/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/build/atomic_configure/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/build/atomic_configure/local_setup.bash b/build/atomic_configure/local_setup.bash
new file mode 100644
index 00000000..7da0d973
--- /dev/null
+++ b/build/atomic_configure/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/build/atomic_configure/local_setup.sh b/build/atomic_configure/local_setup.sh
new file mode 100644
index 00000000..3a1db204
--- /dev/null
+++ b/build/atomic_configure/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/build/atomic_configure/local_setup.zsh b/build/atomic_configure/local_setup.zsh
new file mode 100644
index 00000000..e692accf
--- /dev/null
+++ b/build/atomic_configure/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/build/atomic_configure/setup.bash b/build/atomic_configure/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/build/atomic_configure/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/build/atomic_configure/setup.sh b/build/atomic_configure/setup.sh
new file mode 100644
index 00000000..b20bebf5
--- /dev/null
+++ b/build/atomic_configure/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/build/atomic_configure/setup.zsh b/build/atomic_configure/setup.zsh
new file mode 100644
index 00000000..9f780b74
--- /dev/null
+++ b/build/atomic_configure/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/build/catkin/catkin_generated/version/package.cmake b/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..c37e2875
--- /dev/null
+++ b/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.10")
+set(catkin_MAINTAINER "Michael Carroll <michael@openrobotics.org>, Tully Foote <tfoote@openrobotics.org>")
+set(catkin_PACKAGE_FORMAT "3")
+set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
+set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
+set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
+set(catkin_DOC_DEPENDS )
+set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
+set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
+set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
+set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/build/catkin_generated/env_cached.sh b/build/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/build/catkin_generated/generate_cached_setup.py b/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..da94c17b
--- /dev/null
+++ b/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in '/home/andremaurell/butia_ws/devel;/opt/ros/noetic'.split(';'):
+        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/andremaurell/butia_ws/src/butia_vision/devel/env.sh')
+
+output_filename = '/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    # print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/build/catkin_generated/installspace/.rosinstall b/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..8273ba6a
--- /dev/null
+++ b/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/andremaurell/butia_ws/src/butia_vision/install/setup.sh
diff --git a/build/catkin_generated/installspace/_setup_util.py b/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..8335bd13
--- /dev/null
+++ b/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/usr/local;/usr/local;/home/andremaurell/butia_ws/devel;/opt/ros/noetic;/usr/local;/usr/local;/usr/local;/usr/local'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/build/catkin_generated/installspace/env.sh b/build/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/build/catkin_generated/installspace/local_setup.bash b/build/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 00000000..7da0d973
--- /dev/null
+++ b/build/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/build/catkin_generated/installspace/local_setup.sh b/build/catkin_generated/installspace/local_setup.sh
new file mode 100644
index 00000000..f970a01b
--- /dev/null
+++ b/build/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/install}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/build/catkin_generated/installspace/local_setup.zsh b/build/catkin_generated/installspace/local_setup.zsh
new file mode 100644
index 00000000..e692accf
--- /dev/null
+++ b/build/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/build/catkin_generated/installspace/setup.bash b/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/build/catkin_generated/installspace/setup.sh b/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..e19df5f1
--- /dev/null
+++ b/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/build/catkin_generated/installspace/setup.zsh b/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..9f780b74
--- /dev/null
+++ b/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/build/catkin_generated/order_packages.cmake b/build/catkin_generated/order_packages.cmake
new file mode 100644
index 00000000..e3188a19
--- /dev/null
+++ b/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,10 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/build/catkin_generated/order_packages.py b/build/catkin_generated/order_packages.py
new file mode 100644
index 00000000..9157a995
--- /dev/null
+++ b/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = '/home/andremaurell/butia_ws/src/butia_vision/src'
+whitelisted_packages = ''.split(';') if '' != '' else []
+blacklisted_packages = ''.split(';') if '' != '' else []
+underlay_workspaces = '/home/andremaurell/butia_ws/devel;/opt/ros/noetic'.split(';') if '/home/andremaurell/butia_ws/devel;/opt/ros/noetic' != '' else []
diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..e50af207
--- /dev/null
+++ b/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CMAKE_PREFIX_PATH='/home/andremaurell/butia_ws/src/butia_vision/devel:/home/andremaurell/butia_ws/devel:/opt/ros/noetic:/usr/local:/usr/local:/usr/local:/usr/local:/usr/local:/usr/local'
+export LD_LIBRARY_PATH='/home/andremaurell/butia_ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu:/usr/local/lib:/usr/local/lib:/usr/local/lib:/usr/local/lib:/usr/local/lib:/usr/local/lib'
+export PATH='/opt/ros/noetic/bin:/home/andremaurell/.nvm/versions/node/v18.15.0/bin:/home/andremaurell/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin'
+export PKG_CONFIG_PATH="/home/andremaurell/butia_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PWD='/home/andremaurell/butia_ws/src/butia_vision/build'
+export PYTHONPATH='/home/andremaurell/butia_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages:/usr/local/lib/:/usr/local/lib/:/usr/local/lib/:/usr/local/lib/:/usr/local/lib/:/usr/local/lib/'
+export ROSLISP_PACKAGE_DIRECTORIES='/home/andremaurell/butia_ws/src/butia_vision/devel/share/common-lisp:/home/andremaurell/butia_ws/devel/share/common-lisp'
+export ROS_PACKAGE_PATH="/home/andremaurell/butia_ws/src/butia_vision/src:/home/andremaurell/butia_ws/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/build/catkin_generated/stamps/Project/_setup_util.py.stamp
new file mode 100755
index 00000000..8335bd13
--- /dev/null
+++ b/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/usr/local;/usr/local;/home/andremaurell/butia_ws/devel;/opt/ros/noetic;/usr/local;/usr/local;/usr/local;/usr/local'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..5e25fbf8
--- /dev/null
+++ b/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import runpy
+import sys
+from argparse import ArgumentParser
+
+setup_modules = []
+
+try:
+    import distutils.core
+    setup_modules.append(distutils.core)
+except ImportError:
+    pass
+
+try:
+    import setuptools
+    setup_modules.append(setuptools)
+except ImportError:
+    pass
+
+assert setup_modules, 'Must have distutils or setuptools installed'
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
+
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = os.path.join(parent_location, splits[key_len])
+                else:
+                    locations[key] = os.path.join(allprefix, key)
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
+    """
+    Generate lines to add to a cmake file which will set variables.
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :param pkgs: [list of str] python_packages declared in catkin package
+    :param modules: [list of str] python modules
+    :param setup_module: str, setuptools or distutils
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    if setup_module:
+        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if '.' not in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        root_name = splits[0]
+        root_location = location
+        for _ in range(len(splits) - 1):
+            root_location = os.path.dirname(root_location)
+        if root_location != locations[root_name]:
+            raise RuntimeError(
+                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [locations[pkg]]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
+
+    return result
+
+
+def _create_mock_setup_function(setup_module, package_name, outfile):
+    """
+    Create a function to call instead of distutils.core.setup or setuptools.setup.
+
+    It just captures some args and writes them into a file that can be used from cmake.
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        """Check kwargs and write a scriptfile."""
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError('version not found in setup.py')
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules,
+                                     setup_module=setup_module)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """Script main, parses arguments and invokes Dummy.setup indirectly."""
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    backup_modules = {}
+    try:
+
+        for module in setup_modules:
+            backup_modules[id(module)] = module.setup
+            module.setup = _create_mock_setup_function(
+                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
+
+        runpy.run_path(args.setupfile_path)
+    finally:
+        for module in setup_modules:
+            module.setup = backup_modules[id(module)]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 00000000..7ec7539a
--- /dev/null
+++ b/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,70 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+@{
+package.evaluate_conditions(os.environ)
+try:
+    build_type = package.get_build_type()
+except InvalidPackage:
+    build_type = None
+}@
+@[if build_type is None]@
+message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
+@{
+fatal_error = True
+}@
+@[else]@
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
+@[end if]@
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/build/catkin_generated/stamps/Project/package.xml.stamp b/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 00000000..61e815fd
--- /dev/null
+++ b/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>catkin</name>
+  <version>0.8.10</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="tfoote@openrobotics.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+
+  <build_export_depend>google-mock</build_export_depend>
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/build/catkin_make.cache b/build/catkin_make.cache
new file mode 100644
index 00000000..e738bcdc
--- /dev/null
+++ b/build/catkin_make.cache
@@ -0,0 +1,2 @@
+
+-DCATKIN_DEVEL_PREFIX=/home/andremaurell/butia_ws/src/butia_vision/devel -DCMAKE_INSTALL_PREFIX=/home/andremaurell/butia_ws/src/butia_vision/install -G Unix Makefiles
\ No newline at end of file
diff --git a/build/cmake_install.cmake b/build/cmake_install.cmake
new file mode 100644
index 00000000..2b1a8a32
--- /dev/null
+++ b/build/cmake_install.cmake
@@ -0,0 +1,151 @@
+# Install script for directory: /home/andremaurell/butia_ws/src/butia_vision/src
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/andremaurell/butia_ws/src/butia_vision/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/_setup_util.py")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE PROGRAM FILES "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/env.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE PROGRAM FILES "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/env.sh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/setup.bash;/home/andremaurell/butia_ws/src/butia_vision/install/local_setup.bash")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE FILE FILES
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/setup.bash"
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/local_setup.bash"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/setup.sh;/home/andremaurell/butia_ws/src/butia_vision/install/local_setup.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE FILE FILES
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/setup.sh"
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/local_setup.sh"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/setup.zsh;/home/andremaurell/butia_ws/src/butia_vision/install/local_setup.zsh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE FILE FILES
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/setup.zsh"
+    "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/local_setup.zsh"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/andremaurell/butia_ws/src/butia_vision/install/.rosinstall")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/home/andremaurell/butia_ws/src/butia_vision/install" TYPE FILE FILES "/home/andremaurell/butia_ws/src/butia_vision/build/catkin_generated/installspace/.rosinstall")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
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+.PHONY : src/gtest_main.cc.o
+
+src/gtest_main.i: src/gtest_main.cc.i
+.PHONY : src/gtest_main.i
+
+# target to preprocess a source file
+src/gtest_main.cc.i:
+	cd /home/andremaurell/butia_ws/src/butia_vision/build && $(MAKE) $(MAKESILENT) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i
+.PHONY : src/gtest_main.cc.i
+
+src/gtest_main.s: src/gtest_main.cc.s
+.PHONY : src/gtest_main.s
+
+# target to generate assembly for a file
+src/gtest_main.cc.s:
+	cd /home/andremaurell/butia_ws/src/butia_vision/build && $(MAKE) $(MAKESILENT) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s
+.PHONY : src/gtest_main.cc.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... gtest"
+	@echo "... gtest_main"
+	@echo "... src/gtest-all.o"
+	@echo "... src/gtest-all.i"
+	@echo "... src/gtest-all.s"
+	@echo "... src/gtest_main.o"
+	@echo "... src/gtest_main.i"
+	@echo "... src/gtest_main.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/andremaurell/butia_ws/src/butia_vision/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/gtest/googletest/cmake_install.cmake b/build/gtest/googletest/cmake_install.cmake
new file mode 100644
index 00000000..9118ec2d
--- /dev/null
+++ b/build/gtest/googletest/cmake_install.cmake
@@ -0,0 +1,44 @@
+# Install script for directory: /usr/src/googletest/googletest
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/andremaurell/butia_ws/src/butia_vision/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
diff --git a/butia_image2world/scripts/butia_image2world/image2world/image2world.py b/butia_image2world/scripts/butia_image2world/image2world/image2world.py
index c29d6277..56420230 100755
--- a/butia_image2world/scripts/butia_image2world/image2world/image2world.py
+++ b/butia_image2world/scripts/butia_image2world/image2world/image2world.py
@@ -13,7 +13,7 @@
 from butia_vision_bridge import VisionBridge
 
 from sensor_msgs.msg import PointCloud2
-from butia_vision_msgs.msg import Description2D, Recognitions2D, Description3D, Recognitions3D
+from butia_vision_msgs.msg import KeyPoint2D, Description2D, Recognitions2D, KeyPoint3D, Description3D, Recognitions3D
 from visualization_msgs.msg import Marker, MarkerArray
 
 #from tf.transformations (that it is not working on jetson)
@@ -47,7 +47,8 @@ def __init__(self, init_node=False):
         self.DESCRIPTION_PROCESSING_ALGORITHMS = {
             Description2D.DETECTION: self.__detectionDescriptionProcessing,
             Description2D.INSTANCE_SEGMENTATION: self.__instanceSegmentationDescriptionProcessing,
-            Description2D.SEMANTIC_SEGMENTATION: self.__semanticSegmentationDescriptionProcessing
+            Description2D.SEMANTIC_SEGMENTATION: self.__semanticSegmentationDescriptionProcessing,
+            Description2D.POSE: self.__poseDescriptionProcessing
         }
 
         self.debug = rospy.Publisher('pub/debug', PointCloud2, queue_size=1)
@@ -122,7 +123,7 @@ def __mountLutTable(self, camera_info):
     def __detectionDescriptionProcessing(self, data, description2d, header):
         center_x, center_y = description2d.bbox.center.x, description2d.bbox.center.y
         bbox_size_x, bbox_size_y = description2d.bbox.size_x, description2d.bbox.size_y
-
+        print(bbox_size_x, bbox_size_y)
         if bbox_size_x == 0 or bbox_size_y == 0:
             rospy.logwarn('BBox with zero size.')
             return None
@@ -297,16 +298,64 @@ def __detectionDescriptionProcessing(self, data, description2d, header):
 
         return description3d
 
-
     def __semanticSegmentationDescriptionProcessing(self, source_data, description2d, header):
         return None
 
     def __instanceSegmentationDescriptionProcessing(self, source_data, description2d, header):
         return None
+    
+    def __poseDescriptionProcessing(self, data, description2d : Description2D, header):
+        description3d : Description3D = self.__detectionDescriptionProcessing(data, description2d ,header)
+
+        if 'image_depth' in data and 'camera_info' in data:
+            image_depth = data['image_depth']
+            camera_info = data['camera_info']
+
+            self.__mountLutTable(camera_info)
+
+            h, w = image_depth.shape
+
+            kpt : KeyPoint2D
+            for kpt in description2d.pose:
+                kpt3D = KeyPoint3D()
+                kpt3D.id = kpt.id
+
+                u = int(kpt.x)
+                v = int(kpt.y)
 
-    def __createDescription3D(self, source_data, description2d, header):
+                if u >= w or u < 0 or v >= h or v < 0:
+                    kpt3D.score = 0
+
+                else:
+                    depth = image_depth[v, u]
+
+                    if depth <= 0:
+                        kpt3D.score = 0
+
+                    else:
+                        kpt3D.score = kpt.score
+
+                        depth /= 1000.
+
+                        vertex_3d = np.zeros(3)
+                        vertex_3d[:2] = self.lut_table[v, u, :]*depth
+                        vertex_3d[2] = depth
+
+                        kpt3D.x = vertex_3d[0]
+                        kpt3D.y = vertex_3d[1]
+                        kpt3D.z = vertex_3d[2]
+
+                description3d.pose.append(kpt3D)
+
+            return description3d
+
+    def __createDescription3D(self, source_data, description2d : Description2D, header):
         if description2d.type in self.DESCRIPTION_PROCESSING_ALGORITHMS:
-            return self.DESCRIPTION_PROCESSING_ALGORITHMS[description2d.type](source_data, description2d, header)
+            description3D : Description3D = self.DESCRIPTION_PROCESSING_ALGORITHMS[description2d.type](source_data, description2d, header)
+            description3D.bbox2D = description2d.bbox
+            description3D.class_num = description2d.class_num
+            print(description3D.class_num)
+            return description3D
         else:
             return None
 
@@ -327,6 +376,7 @@ def recognitions2DtoRecognitions3D(self, data):
         pc2 = data.points
         img_depth = data.image_depth
         camera_info = data.camera_info
+        image_rgb = data.image_rgb
         
         recognitions = Recognitions3D()
         if pc2.width*pc2.height > 0:
@@ -345,6 +395,7 @@ def recognitions2DtoRecognitions3D(self, data):
         else:
             rospy.logwarn('Image2World cannot be used because pointcloud and depth images are void.')
 
+        recognitions.image_rgb = image_rgb
         if self.publish_markers:
             self.publishMarkers(recognitions.descriptions)
         return recognitions
@@ -397,6 +448,29 @@ def publishMarkers(self, descriptions3d):
             marker.text = '{} ({:.2f})'.format(name, det.score)
             marker.lifetime = rospy.Time.from_sec(2)
             markers.markers.append(marker)
+
+            for idx, kpt3D in enumerate(det.pose):
+                if kpt3D.score > 0:
+                    marker = Marker()
+                    marker.header = det.poses_header
+                    marker.type = Marker.SPHERE
+                    marker.id = idx
+                    marker.color.r = color[1]
+                    marker.color.g = color[2]
+                    marker.color.b = color[0]
+                    marker.color.a = 1
+                    marker.scale.x = 0.05
+                    marker.scale.y = 0.05
+                    marker.scale.z = 0.05
+                    marker.pose.position.x = kpt3D.x
+                    marker.pose.position.y = kpt3D.y
+                    marker.pose.position.z = kpt3D.z
+                    marker.pose.orientation.x = 0.0
+                    marker.pose.orientation.y = 0.0
+                    marker.pose.orientation.z = 0.0
+                    marker.pose.orientation.w = 1.0
+                    marker.lifetime = rospy.Time.from_sec(2)
+                    markers.markers.append(marker)
         
         self.marker_publisher.publish(markers)
     
diff --git a/butia_people_tracking/config/ros.yaml b/butia_people_tracking/config/ros.yaml
index 13ec292e..8e1d52e2 100644
--- a/butia_people_tracking/config/ros.yaml
+++ b/butia_people_tracking/config/ros.yaml
@@ -4,7 +4,6 @@ services:
     stop_tracking: "/butia_vision/pt/stop"
     
 topics:
-  butia_recognition:
-    people_detection: "/butia_vision/br/people_detection"
   people_tracking:
+    people_detection: "/butia_vision/br/recognitions2D"
     people_tracking: "/butia_vision/pt/people_tracking"
\ No newline at end of file
diff --git a/butia_people_tracking/scripts/people_tracking_node.py b/butia_people_tracking/scripts/people_tracking_node.py
index 0c5aec9a..94b4bfab 100755
--- a/butia_people_tracking/scripts/people_tracking_node.py
+++ b/butia_people_tracking/scripts/people_tracking_node.py
@@ -115,11 +115,11 @@ def stopTracking(req):
     
     queue_size = rospy.get_param("/people_tracking/queue/size", 1)
 
-    param_start_service = rospy.get_param("/services/people_tracking/start_tracking", "/butia_vision/pt/start")
-    param_stop_service = rospy.get_param("/services/people_tracking/stop_tracking", "/butia_vision/pt/stop")
+    param_start_service = rospy.get_param("people_tracking/services/people_tracking/start_tracking", "/butia_vision/pt/start")
+    param_stop_service = rospy.get_param("people_tracking/services/people_tracking/stop_tracking", "/butia_vision/pt/stop")
 
-    param_people_detection_topic = rospy.get_param("/topics/butia_recognition/people_detection", "/butia_vision/br/people_detection")
-    param_people_tracking_topic = rospy.get_param("/topics/people_tracking/people_tracking", "/butia_vision/pt/people_tracking")
+    param_people_detection_topic = rospy.get_param("people_tracking/topics/people_tracking/people_detection", "/butia_vision/br/recognitions2D")
+    param_people_tracking_topic = rospy.get_param("people_tracking/topics/people_tracking/people_tracking", "/butia_vision/pt/people_tracking")
 
     tracker_publisher = rospy.Publisher(param_people_tracking_topic, Recognitions2D, queue_size = queue_size)
     view_publisher = rospy.Publisher('/butia_vision/pt/people_tracking_view', Image, queue_size = queue_size)
diff --git a/butia_recognition/CMakeLists.txt b/butia_recognition/CMakeLists.txt
index 1f56b23f..287a7d00 100644
--- a/butia_recognition/CMakeLists.txt
+++ b/butia_recognition/CMakeLists.txt
@@ -13,5 +13,6 @@ catkin_package(
 
 install(PROGRAMS
   scripts/butia_recognition/yolov5_recognition.py
+  scripts/butia_recognition/yolo_tracker_recognition.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
\ No newline at end of file
diff --git a/butia_recognition/config/face_rec.yaml b/butia_recognition/config/face_rec.yaml
new file mode 100644
index 00000000..8f5ec432
--- /dev/null
+++ b/butia_recognition/config/face_rec.yaml
@@ -0,0 +1,34 @@
+threshold: 0.5
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: true
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+  camera_info: /butia_vision/bvb/camera_info
+  image_depth: /butia_vision/bvb/image_depth
+
+  #points: /butia_vision/bvb/points
+  #points: kinect2/qhd/points
+
+publishers:
+
+  face_recognition:
+    topic: /butia_vision/br/face_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/people_detection/list_classes
+
+  start:
+    service: /butia_vision/br/people_detection/start
+
+  stop:
+    service: /butia_vision/br/people_detection/stop
+
+names:
+    starting: features
diff --git a/butia_recognition/config/object_recognition_larc2021_real.yaml b/butia_recognition/config/object_recognition_larc2021_real.yaml
index 327878c8..b8436265 100644
--- a/butia_recognition/config/object_recognition_larc2021_real.yaml
+++ b/butia_recognition/config/object_recognition_larc2021_real.yaml
@@ -20,4 +20,4 @@ all_classes:
     - Gelatine
     - Cracker
     - Chocolate Milk
-model_file: larc2021_real.pt
+model_file: yolov5s.pt
diff --git a/butia_recognition/config/test.yaml b/butia_recognition/config/test.yaml
new file mode 100644
index 00000000..53e1ce94
--- /dev/null
+++ b/butia_recognition/config/test.yaml
@@ -0,0 +1,45 @@
+threshold: 0.9
+classes_by_category:
+    drink: ['Molhomate']
+    snack: ['Pringles']
+    cutlelary: ['Detergente']
+    misc: ['Mostarda']
+all_classes: 
+    - Pringles
+    - Mostarda
+    - Molhomate
+    - Detergente
+
+model_file: best.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  # image_rgb: /butia_vision/bvb/image_rgb
+  # camera_info: /butia_vision/bvb/camera_info
+  # image_depth: /butia_vision/bvb/image_depth
+  #points: /butia_vision/bvb/points
+
+  image_rgb: /camera/color/image_raw
+  camera_info: /camera/color/camera_info
+  image_depth: /camera/aligned_depth_to_color/image_raw
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/config/yolo_face_tracker_recognition.yaml b/butia_recognition/config/yolo_face_tracker_recognition.yaml
new file mode 100644
index 00000000..0334f172
--- /dev/null
+++ b/butia_recognition/config/yolo_face_tracker_recognition.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: yolov8s-pose.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug_recog
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/pt/start
+    stop: /butia_vision/pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10
diff --git a/butia_recognition/config/yolo_tracker_bag_recognition.yaml b/butia_recognition/config/yolo_tracker_bag_recognition.yaml
new file mode 100644
index 00000000..04ed0daa
--- /dev/null
+++ b/butia_recognition/config/yolo_tracker_bag_recognition.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: yolov8s-pose.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: true
+  slop: 0.1
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug2
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/yolo_pt/start
+    stop: /butia_vision/yolo_pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10
diff --git a/butia_recognition/config/yolo_tracker_config/yolov8_botsort_tracker_config.yaml b/butia_recognition/config/yolo_tracker_config/yolov8_botsort_tracker_config.yaml
new file mode 100644
index 00000000..fd520a54
--- /dev/null
+++ b/butia_recognition/config/yolo_tracker_config/yolov8_botsort_tracker_config.yaml
@@ -0,0 +1,15 @@
+tracker_type: botsort  # tracker type, ['botsort', 'bytetrack']
+track_high_thresh: 0.5  # threshold for the first association
+track_low_thresh: 0.1  # threshold for the second association
+new_track_thresh: 0.6  # threshold for init new track if the detection does not match any tracks
+track_buffer: 1  # buffer to calculate the time when to remove tracks
+match_thresh: 0.8  # threshold for matching tracks
+# min_box_area: 10  # threshold for min box areas(for tracker evaluation, not used for now)
+# mot20: False  # for tracker evaluation(not used for now)
+
+# BoT-SORT settings
+cmc_method: sparseOptFlow  # method of global motion compensation
+# ReID model related thresh (not supported yet)
+proximity_thresh: 0.5
+appearance_thresh: 0.25
+with_reid: True
diff --git a/butia_recognition/config/yolo_tracker_face_recognition.yaml b/butia_recognition/config/yolo_tracker_face_recognition.yaml
new file mode 100644
index 00000000..0334f172
--- /dev/null
+++ b/butia_recognition/config/yolo_tracker_face_recognition.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: yolov8s-pose.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug_recog
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/pt/start
+    stop: /butia_vision/pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10
diff --git a/butia_recognition/config/yolo_tracker_recognition.yaml b/butia_recognition/config/yolo_tracker_recognition.yaml
new file mode 100644
index 00000000..66482a9b
--- /dev/null
+++ b/butia_recognition/config/yolo_tracker_recognition.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: yolov8s-pose.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/pt/start
+    stop: /butia_vision/pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10
diff --git a/butia_recognition/config/yolo_tracker_storing_groceries_bordeaux23.yaml b/butia_recognition/config/yolo_tracker_storing_groceries_bordeaux23.yaml
new file mode 100644
index 00000000..568e2f44
--- /dev/null
+++ b/butia_recognition/config/yolo_tracker_storing_groceries_bordeaux23.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: storing_groceries.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/pt/start
+    stop: /butia_vision/pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10
diff --git a/butia_recognition/config/yolov5_object_detection .yaml b/butia_recognition/config/yolov5_object_detection .yaml
new file mode 100644
index 00000000..d4a64d4b
--- /dev/null
+++ b/butia_recognition/config/yolov5_object_detection .yaml	
@@ -0,0 +1,50 @@
+threshold: 0.5
+classes_by_category:
+    simple: [Apple, Banana, Carrot, Mayonnaise, Ketchup, Soap, Napkin, Toothpaste, Alcohol Bottle, Yeast, Chocolate Powder, Coconut Milk, Soda can, Beer can, Popcorn, Gelatine, Cracker, Chocolate Milk]
+classes:
+  - Apple
+  - Banana
+  - Carrot
+  - Mayonnaise
+  - Ketchup
+  - Soap
+  - Napkin
+  - Toothpaste
+  - Alcohol Bottle
+  - Yeast
+  - Chocolate Powder
+  - Coconut Milk
+  - Soda can
+  - Beer can
+  - Popcorn
+  - Gelatine
+  - Cracker
+  - Chocolate Milk
+model_file: yolov5s.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  image_rgb: /camera/color/image_raw
+
+  points: /camera/depth/color/points
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/config/yolov5_objects_lab.yaml b/butia_recognition/config/yolov5_objects_lab.yaml
new file mode 100644
index 00000000..7f33b76d
--- /dev/null
+++ b/butia_recognition/config/yolov5_objects_lab.yaml
@@ -0,0 +1,36 @@
+threshold: 0.5
+classes_by_category:
+    drink: ['guarana', 'tonic']
+    snack: ['corn flakes', 'pringles']
+    fruits: ['apple', 'kiwi', 'orange']
+    cuttelary: ['bowl', 'fork', 'knife', 'plate']
+    misc: ['sponge']
+classes: ['apple', 'bowl', 'corn flakes', 'fork', 'guarana', 'kiwi', 'knife', 'orange', 'plate', 'pringles', 'sponge', 'tonic']
+model_file: yolov5s.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  image_rgb: /camera/color/image_raw
+
+  points: /camera/depth/color/points
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/config/yolov5_people_detection.yaml b/butia_recognition/config/yolov5_people_detection.yaml
index 72e3d374..2a961896 100644
--- a/butia_recognition/config/yolov5_people_detection.yaml
+++ b/butia_recognition/config/yolov5_people_detection.yaml
@@ -24,7 +24,7 @@ subscribers:
 publishers:
 
   people_detection:
-    topic: /butia_vision/br/people_detection
+    topic: /butia_vision/br/recognition2D
     queue_size: 1
 
 servers:
diff --git a/butia_recognition/config/yolov8_bag_recognition.yaml b/butia_recognition/config/yolov8_bag_recognition.yaml
new file mode 100644
index 00000000..1d487c6f
--- /dev/null
+++ b/butia_recognition/config/yolov8_bag_recognition.yaml
@@ -0,0 +1,42 @@
+threshold: 0.5
+classes_by_category:
+    bag: ['bag']
+all_classes: 
+    - bag
+  
+max_sizes:
+    - [0.5, 2.5, 0.5]
+
+model_file: yolov8_bag.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  image_rgb: /butia_vision/bvb/image_rgb
+  camera_info: /butia_vision/bvb/camera_info
+  image_depth: /butia_vision/bvb/image_depth
+  # points: /butia_vision/bvb/points
+
+  # image_rgb: /camera/color/image_raw
+  # camera_info: /camera/color/camera_info
+  # image_depth: /camera/aligned_depth_to_color/image_raw
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/config/yolov8_object_recognition.yaml b/butia_recognition/config/yolov8_object_recognition.yaml
new file mode 100644
index 00000000..c22625c4
--- /dev/null
+++ b/butia_recognition/config/yolov8_object_recognition.yaml
@@ -0,0 +1,47 @@
+threshold: 0.5
+classes_by_category:
+    fruits: ['Apple', 'Banana', 'Grape', 'Orange', 'Pineapple', 'Watermelon']
+all_classes: 
+    - Apple
+    - Banana
+    - Grape
+    - Orange
+    - Pineapple
+    - Watermelon
+  
+max_sizes:
+    - [0.5, 2.5, 0.5]
+
+model_file: yolov8_lab_objects.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  # image_rgb: /butia_vision/bvb/image_rgb
+  # camera_info: /butia_vision/bvb/camera_info
+  # image_depth: /butia_vision/bvb/image_depth
+  #points: /butia_vision/bvb/points
+
+  image_rgb: /camera/color/image_raw
+  camera_info: /camera/color/camera_info
+  image_depth: /camera/aligned_depth_to_color/image_raw
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/config/yolov8_object_recognition_backup.yaml b/butia_recognition/config/yolov8_object_recognition_backup.yaml
new file mode 100644
index 00000000..381ee636
--- /dev/null
+++ b/butia_recognition/config/yolov8_object_recognition_backup.yaml
@@ -0,0 +1,97 @@
+threshold: 0.5
+classes_by_category:
+    drink: ['guarana', 'Guarana', 'IceTea', 'tonic', Tonic', 'Coke', 'Beer can', 'CoconutWater', 'Water', Soda can']
+    snack: ['corn flakes', 'CornFlakes', 'pringles', 'Pringles', 'Popcorn', 'Cookies', 'Cracker', 'Chocolate Milk', 'TunaCan']
+    fruits: ['apple', 'Apple', 'kiwi', 'Kiwi', 'orange', 'Banana', 'Orange']
+    cutlelary: ['bowl', 'Bowl', 'fork', 'knife', 'plate', 'Plate', 'Cleaner', 'Napkin', 'Cloth', 'EnglishSauce', 'TomatoSauce']
+    misc: ['sponge', 'Sponge', 'Bag', 'Alcohol Bottle', 'Soap', 'Mug', 'Carrot', 'Yeast', 'Coconut Milk', 'Chocolate Powder', 'Ketchup', 'Mayonnaise', 'Mustard', 'Toothpaste', 'Gelatine']
+all_classes: 
+    - Alcohol Bottle
+    - Apple
+    - Bag
+    - Banana
+    - Beer can
+    - Bowl
+    - Carrot
+    - Chocolate Milk
+    - Chocolate Powder
+    - Cleaner
+    - Cloth
+    - Coconut Milk
+    - CoconutWater
+    - Coke
+    - Cookies
+    - CornFlakes
+    - Cracker
+    - EnglishSauce
+    - Gelatine
+    - Guarana
+    - IceTea
+    - Ketchup
+    - Kiwi
+    - Mayonnaise
+    - Mug
+    - Mustard
+    - Napkin
+    - Orange
+    - Plate
+    - Popcorn
+    - Pringles
+    - Soap
+    - Soda can
+    - Sponge
+    - TomatoSauce
+    - Tonic
+    - Toothpaste
+    - TunaCan
+    - Water
+    - Yeast
+    - apple
+    - bowl
+    - corn flakes
+    - fork
+    - guarana
+    - kiwi
+    - knife
+    - orange
+    - plate
+    - pringles
+    - sponge
+    - tonic
+  
+max_sizes:
+    - [0.5, 2.5, 0.5]
+
+model_file: yolov8_lab_objects.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.2
+
+  # image_rgb: /butia_vision/bvb/image_rgb
+  # camera_info: /butia_vision/bvb/camera_info
+  # image_depth: /butia_vision/bvb/image_depth
+  #points: /butia_vision/bvb/points
+
+  image_rgb: /camera/color/image_raw
+  camera_info: /camera/color/camera_info
+  image_depth: /camera/aligned_depth_to_color/image_raw
+
+publishers:
+
+  object_recognition:
+    topic: /butia_vision/br/object_recognition
+    queue_size: 1
+
+servers:
+
+  list_classes:
+    service: /butia_vision/br/object_recognition/list_classes
+
+  start:
+    service: /butia_vision/br/object_recognition/start
+
+  stop:
+    service: /butia_vision/br/object_recognition/stop
diff --git a/butia_recognition/dataset/features/features.pkl b/butia_recognition/dataset/features/features.pkl
new file mode 100644
index 00000000..b26bfa0f
Binary files /dev/null and b/butia_recognition/dataset/features/features.pkl differ
diff --git a/butia_recognition/dataset/people/john/1.jpg b/butia_recognition/dataset/people/john/1.jpg
new file mode 100644
index 00000000..76c4fb16
Binary files /dev/null and b/butia_recognition/dataset/people/john/1.jpg differ
diff --git a/butia_recognition/dataset/people/john/2.jpg b/butia_recognition/dataset/people/john/2.jpg
new file mode 100644
index 00000000..5911024a
Binary files /dev/null and b/butia_recognition/dataset/people/john/2.jpg differ
diff --git a/butia_recognition/dataset/people/marina/1.jpg b/butia_recognition/dataset/people/marina/1.jpg
new file mode 100644
index 00000000..964cba61
Binary files /dev/null and b/butia_recognition/dataset/people/marina/1.jpg differ
diff --git a/butia_recognition/dataset/people/marina/2.jpg b/butia_recognition/dataset/people/marina/2.jpg
new file mode 100644
index 00000000..581a82d0
Binary files /dev/null and b/butia_recognition/dataset/people/marina/2.jpg differ
diff --git a/butia_recognition/dataset/people/marina/3.jpg b/butia_recognition/dataset/people/marina/3.jpg
new file mode 100644
index 00000000..1bae3864
Binary files /dev/null and b/butia_recognition/dataset/people/marina/3.jpg differ
diff --git a/butia_recognition/dataset/people/mary/1.jpg b/butia_recognition/dataset/people/mary/1.jpg
new file mode 100644
index 00000000..dbd4cd57
Binary files /dev/null and b/butia_recognition/dataset/people/mary/1.jpg differ
diff --git a/butia_recognition/dataset/people/mary/2.jpg b/butia_recognition/dataset/people/mary/2.jpg
new file mode 100644
index 00000000..083a8af9
Binary files /dev/null and b/butia_recognition/dataset/people/mary/2.jpg differ
diff --git a/butia_recognition/include/face_rec_images/barackObama.jpg b/butia_recognition/include/face_rec_images/barackObama.jpg
new file mode 100644
index 00000000..0c8f43ff
Binary files /dev/null and b/butia_recognition/include/face_rec_images/barackObama.jpg differ
diff --git a/butia_recognition/include/face_rec_images/elonMusk.jpg b/butia_recognition/include/face_rec_images/elonMusk.jpg
new file mode 100644
index 00000000..bb7127a6
Binary files /dev/null and b/butia_recognition/include/face_rec_images/elonMusk.jpg differ
diff --git a/butia_recognition/include/face_rec_images/nicolainielsen.png b/butia_recognition/include/face_rec_images/nicolainielsen.png
new file mode 100644
index 00000000..05ed665b
Binary files /dev/null and b/butia_recognition/include/face_rec_images/nicolainielsen.png differ
diff --git a/butia_recognition/include/face_rec_images/tigerWoods.jpeg b/butia_recognition/include/face_rec_images/tigerWoods.jpeg
new file mode 100644
index 00000000..09a96986
Binary files /dev/null and b/butia_recognition/include/face_rec_images/tigerWoods.jpeg differ
diff --git a/butia_recognition/include/owlvit-base-patch32 b/butia_recognition/include/owlvit-base-patch32
new file mode 160000
index 00000000..17740e19
--- /dev/null
+++ b/butia_recognition/include/owlvit-base-patch32
@@ -0,0 +1 @@
+Subproject commit 17740e19dde58d657d21b970ead1cce0ea40f4da
diff --git a/butia_recognition/include/owlvit-large-patch14 b/butia_recognition/include/owlvit-large-patch14
new file mode 160000
index 00000000..f8a3bb94
--- /dev/null
+++ b/butia_recognition/include/owlvit-large-patch14
@@ -0,0 +1 @@
+Subproject commit f8a3bb94f9bbcab646cc96721435332273269f1c
diff --git a/butia_recognition/include/yolov5 b/butia_recognition/include/yolov5
index d3ea0df8..956be8e6 160000
--- a/butia_recognition/include/yolov5
+++ b/butia_recognition/include/yolov5
@@ -1 +1 @@
-Subproject commit d3ea0df8b9f923685ce5f2555c303b8eddbf83fd
+Subproject commit 956be8e642b5c10af4a1533e09084ca32ff4f21f
diff --git a/butia_recognition/launch/face_rec.launch b/butia_recognition/launch/face_rec.launch
new file mode 100644
index 00000000..990462b9
--- /dev/null
+++ b/butia_recognition/launch/face_rec.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="use_machine" default="true"/>
+  <arg name="output" default="screen"/>
+
+  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+  <node pkg="butia_recognition" type="face_recog.py" output="$(arg output)" name="face_recognition_node" machine="$(arg machine)">
+    <rosparam command="load" file="$(find butia_recognition)/config/face_rec.yaml"/>
+  </node>
+  
+</launch>
diff --git a/butia_recognition/launch/yolo_tracker_recognition.launch b/butia_recognition/launch/yolo_tracker_recognition.launch
new file mode 100644
index 00000000..cbc0ee5d
--- /dev/null
+++ b/butia_recognition/launch/yolo_tracker_recognition.launch
@@ -0,0 +1,14 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="use_machine" default="true"/>
+  <arg name="output" default="screen"/>
+  <arg name="node_name" default="butia_object_recognition"/>
+  <arg name="config_file" default="yolo_tracker_recognition.yaml"/>
+
+  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+  <node pkg="butia_recognition" type="yolo_tracker_recognition.py" output="$(arg output)" name="$(arg node_name)" machine="$(arg machine)" required="true">
+    <rosparam command="load" file="$(find butia_recognition)/config/$(arg config_file)"/>
+    <rosparam param="tracker-file" subst_value="True">config/yolo_tracker_config/yolov8_botsort_tracker_config.yaml</rosparam>
+  </node>
+</launch>
diff --git a/butia_recognition/launch/yolov5_object_detection.launch b/butia_recognition/launch/yolov5_object_detection.launch
new file mode 100644
index 00000000..8c7e662a
--- /dev/null
+++ b/butia_recognition/launch/yolov5_object_detection.launch
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="use_machine" default="true"/>
+  <arg name="output" default="screen"/>
+
+  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+  <node pkg="butia_recognition" type="yolov5_recognition.py" output="log" name="yolov5_people_detection" machine="$(arg machine)">
+    <rosparam command="load" file="$(find butia_recognition)/config/yolov5_objects_lab.yaml"/>
+  </node>
+
+  <node pkg="butia_image2world" type="image2world.py" output="$(arg output)" name="image2world_people_detection_node" machine="$(arg machine)">
+    <remap from="sub/recognitions2d"  to="/butia_vision/br/object_recognition"/>
+    <remap from="pub/recognitions3d"  to="/butia_vision/br/object_recognition3d"/>
+    <remap from="pub/markers" to="/butia_vision/br/markers"/>
+    <rosparam param="color">[255,0,0]</rosparam>
+ </node>
+ 
+</launch>
diff --git a/butia_recognition/launch/yolov8_bag_recognition.launch b/butia_recognition/launch/yolov8_bag_recognition.launch
new file mode 100644
index 00000000..836da2fc
--- /dev/null
+++ b/butia_recognition/launch/yolov8_bag_recognition.launch
@@ -0,0 +1,21 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="use_machine" default="true"/>
+  <arg name="output" default="screen"/>
+  <arg name="node_name" default="butia_bag_recognition"/>
+  <arg name="config_file" default="yolov8_bag_recognition.yaml"/>
+
+  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+  <node pkg="butia_recognition" type="yolov8_recognition.py" output="$(arg output)" name="$(arg node_name)" machine="$(arg machine)">
+    <rosparam command="load" file="$(find butia_recognition)/config/$(arg config_file)"/>
+  </node>
+
+  <node pkg="butia_image2world" type="image2world.py" output="$(arg output)" name="image2world_object_recognition_node" machine="$(arg machine)">
+    <remap from="sub/recognitions2d"  to="/butia_vision/br/object_recognition"/>
+    <remap from="pub/recognitions3d"  to="/butia_vision/br/object_recognition3d"/>
+    <remap from="pub/markers" to="/butia_vision/br/markers"/>
+    <rosparam param="color">[255,0,0]</rosparam>
+  </node>
+
+</launch>
diff --git a/butia_recognition/launch/yolov8_object_recognition.launch b/butia_recognition/launch/yolov8_object_recognition.launch
new file mode 100644
index 00000000..45ddd500
--- /dev/null
+++ b/butia_recognition/launch/yolov8_object_recognition.launch
@@ -0,0 +1,21 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="use_machine" default="true"/>
+  <arg name="output" default="screen"/>
+  <arg name="node_name" default="butia_object_recognition"/>
+  <arg name="config_file" default="yolov8_object_recognition.yaml"/>
+
+  <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+  <node pkg="butia_recognition" type="yolov8_recognition.py" output="$(arg output)" name="$(arg node_name)" machine="$(arg machine)">
+    <rosparam command="load" file="$(find butia_recognition)/config/$(arg config_file)"/>
+  </node>
+
+  <node pkg="butia_image2world" type="image2world.py" output="$(arg output)" name="image2world_object_recognition_node" machine="$(arg machine)">
+    <remap from="sub/recognitions2d"  to="/butia_vision/br/object_recognition"/>
+    <remap from="pub/recognitions3d"  to="/butia_vision/br/object_recognition3d"/>
+    <remap from="pub/markers" to="/butia_vision/br/markers"/>
+    <rosparam param="color">[255,0,0]</rosparam>
+  </node>
+
+</launch>
diff --git a/butia_recognition/scripts/butia_recognition/__init__.py b/butia_recognition/scripts/butia_recognition/__init__.py
index 6208e7fb..3b212d1e 100644
--- a/butia_recognition/scripts/butia_recognition/__init__.py
+++ b/butia_recognition/scripts/butia_recognition/__init__.py
@@ -1,2 +1,3 @@
 from .base_recognition import *
-from .yolov5_recognition import *
\ No newline at end of file
+from .yolov5_recognition import *
+from .yolov8_recognition import *
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition/base_recognition/base_recognition.py b/butia_recognition/scripts/butia_recognition/base_recognition/base_recognition.py
index b87984c2..eab1830a 100644
--- a/butia_recognition/scripts/butia_recognition/base_recognition/base_recognition.py
+++ b/butia_recognition/scripts/butia_recognition/base_recognition/base_recognition.py
@@ -245,4 +245,4 @@ def readParameters(self):
 
 #     self.classes_by_category = dict(rospy.get_param("/object_recognition/classes_by_category"))
 
-#     self.model_file = rospy.get_param("/object_recognition/model_file", "larc2021_go_and_get_it.pt")
+#     self.model_file = rospy.get_param("/object_recognition/model_file", "larc2021_go_and_get_it.pt")
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition/face_recognition/.face_recog.py.swp b/butia_recognition/scripts/butia_recognition/face_recognition/.face_recog.py.swp
new file mode 100644
index 00000000..71613d6a
Binary files /dev/null and b/butia_recognition/scripts/butia_recognition/face_recognition/.face_recog.py.swp differ
diff --git a/butia_recognition/scripts/butia_recognition/face_recognition/face_recog.py b/butia_recognition/scripts/butia_recognition/face_recognition/face_recog.py
new file mode 100755
index 00000000..c0cf5d86
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/face_recognition/face_recog.py
@@ -0,0 +1,268 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rospy
+
+import ros_numpy
+
+from butia_recognition import BaseRecognition, ifState
+
+import numpy as np
+import os
+from copy import copy
+import cv2
+import face_recognition
+import time
+import rospkg
+from collections import Counter
+import pickle
+
+from std_msgs.msg import Header
+from sensor_msgs.msg import Image
+from butia_vision_msgs.msg import Description2D, Recognitions2D
+from butia_vision_msgs.srv import PeopleIntroducing, PeopleIntroducingResponse
+from geometry_msgs.msg import Vector3
+
+PACK_DIR = rospkg.RosPack().get_path('butia_recognition')
+class FaceRecognition(BaseRecognition):
+    def __init__(self, state=True):
+        super().__init__(state=state)
+        dataset_dir = os.path.join(PACK_DIR, 'dataset')
+        self.features_dir = os.path.join(dataset_dir, 'features')
+        self.dataset_dir = os.path.join(dataset_dir, 'people/')
+        self.readParameters()
+
+        self.initRosComm()
+
+        known_faces_dict = self.loadVar('features')
+        self.know_faces = self.flatten(known_faces_dict)
+
+    def initRosComm(self):
+        self.debug_publisher = rospy.Publisher(self.debug_topic, Image, queue_size=self.debug_qs)
+        self.face_recognition_publisher = rospy.Publisher(self.face_recognition_topic, Recognitions2D, queue_size=self.face_recognition_qs)
+        self.introduct_person_service = rospy.Service(self.introduct_person_servername, PeopleIntroducing, self.PeopleIntroducing) #possivelmente trocar self.encode_faces
+
+        super().initRosComm(callbacks_obj=self)
+        rospy.loginfo('foi 2')
+
+    def regressiveCounter(self, sec):
+        sec = int(sec)
+        for i  in range(0, sec):
+            print(str(sec-i) + '...')
+            time.sleep(1)
+    
+    def saveVar(self, variable, filename):
+        with open(self.features_dir + '/' +  filename + '.pkl', 'wb') as file:
+            pickle.dump(variable, file)
+
+    def loadVar(self, filename):
+        file_path = self.features_dir + '/' +  filename + '.pkl'
+        if os.path.exists(file_path):
+            with open(file_path, 'rb') as file:
+                variable = pickle.load(file)
+            return variable
+        return {}
+
+    def flatten(self, l):
+        values_list = [item for sublist in l.values() for item in sublist]
+        keys_list = [item for name in l.keys() for item in [name]*len(l[name])]
+        return keys_list, values_list
+
+    def encode_faces(self):
+
+        encodings = []
+        names = []
+        try:
+            encoded_face = self.loadVar('features')
+        except:
+            encoded_face = {}
+        train_dir = os.listdir(self.dataset_dir)
+
+        for person in train_dir:
+            if person not in self.know_faces[0]:   
+                pix = os.listdir(self.dataset_dir + person)
+
+                for person_img in pix:
+                    face = face_recognition.load_image_file(self.dataset_dir + person + "/" + person_img)
+                    face_bounding_boxes = face_recognition.face_locations(face, model = 'yolov8')
+
+                    M_face = None
+                    M_area = -float('inf')
+                    for top, right, bottom, left in face_bounding_boxes:
+                        area = (bottom - top)*(right - left)
+                        if area > M_area:
+                            M_area = area
+                            M_face = (top, right, bottom, left)
+
+                    if M_face is not None:
+                        face_enc = face_recognition.face_encodings(face, known_face_locations=[M_face])[0]
+                        encodings.append(face_enc)
+
+                        if person not in names:
+                            names.append(person)
+                            encoded_face[person] = []
+                            encoded_face[person].append(face_enc)
+                        else:
+                            encoded_face[person].append(face_enc)
+                    else:
+                        print(person + "/" + person_img + " was skipped and can't be used for training")
+            else:
+                pass
+        self.saveVar(encoded_face, 'features')             
+
+    def PeopleIntroducing(self, ros_srv):
+
+        name = ros_srv.name
+        num_images = ros_srv.num_images
+        NAME_DIR = os.path.join(self.dataset_dir, name)
+        os.makedirs(NAME_DIR, exist_ok=True)
+        os.makedirs(self.features_dir, exist_ok=True)
+        image_type = '.jpg'
+
+        image_labels = os.listdir(NAME_DIR)
+        add_image_labels = []
+        i = 1
+        k = 0
+        j = num_images
+        number = [] 
+        for label in image_labels:
+            number.append(int(label.replace(image_type, '')))
+        
+        number.sort()
+        n = 1
+        while j > 0:
+            if k < len(number):
+                n = number[k] + 1
+                if number[k] == i:
+                    k += 1
+                else:
+                    add_image_labels.append((str(i) + image_type))
+                    j -= 1      
+                i += 1 
+
+            else:
+                add_image_labels.append(str(n) + image_type)
+                j -= 1
+                n += 1
+        
+        num_images = ros_srv.num_images
+
+        i = 0
+        while i < num_images:
+            self.regressiveCounter(ros_srv.interval)
+            try:
+                ros_image_aux = rospy.wait_for_message(self.subscribers_dict['image_rgb'], Image, 1000)
+            except (ROSException, ROSInterruptException) as e:
+                break
+            ros_image = ros_numpy.numpify(ros_image_aux)
+            ros_image = np.flip(ros_image)
+            ros_image = np.flipud(ros_image)
+            
+            face_locations = face_recognition.face_locations(ros_image, model='yolov8')
+                
+            if len(face_locations) > 0:
+                ros_image = cv2.cvtColor(ros_image, cv2.COLOR_BGR2RGB)
+                cv2.imwrite(os.path.join(NAME_DIR, add_image_labels[i]), ros_image)
+                rospy.logwarn('Picture ' + add_image_labels[i] + ' was  saved.')
+                i+= 1
+            else:
+                rospy.logerr("The face was not detected.")
+
+        cv2.destroyAllWindows()
+        response = PeopleIntroducingResponse()
+        response.response = True
+
+        self.encode_faces()
+
+        known_faces_dict = self.loadVar('features')
+        self.know_faces = self.flatten(known_faces_dict)
+        return response
+
+    @ifState
+    def callback(self, *args):
+        thold = 0.5
+        face_rec = Recognitions2D()
+        source_data = self.sourceDataFromArgs(args)
+
+        if 'image_rgb' not in source_data:
+            rospy.logwarn('Souce data has no image_rgb.')
+            return None
+        
+        img = source_data['image_rgb']
+        h = Header()
+        h.seq = self.seq
+        self.seq += 1
+        h.stamp = rospy.Time.now()
+
+        face_rec.header = h
+        face_rec = BaseRecognition.addSourceData2Recognitions2D(source_data, face_rec)
+        
+        #rospy.loginfo('Image ID: ' + str(img.header.seq))
+
+        ros_img_small_frame = ros_numpy.numpify(img)
+
+        current_faces = face_recognition.face_locations(ros_img_small_frame, model = 'yolov8')
+        current_faces_encodings = face_recognition.face_encodings(ros_img_small_frame, current_faces)
+
+        debug_img = copy(ros_img_small_frame)
+        names = []
+        name_distance=[]
+        for idx in range(len(current_faces_encodings)):
+            current_encoding = current_faces_encodings[idx]
+            top, right, bottom, left = current_faces[idx]
+            description = Description2D()
+            name = 'unknown'
+            if(len(self.know_faces[0]) > 0):
+                face_distances = np.linalg.norm(self.know_faces[1] - current_encoding, axis = 1)
+                min_distance_idx = np.argmin(face_distances)
+                min_distance = face_distances[min_distance_idx]
+                if min_distance < thold:
+                    name = (self.know_faces[0][min_distance_idx])
+            description.label = name
+
+            names.append(name)
+
+            description_header = img.header
+            description_header.seq = 0
+            description.header = copy(description_header)
+            description.type = Description2D.DETECTION
+            description.id = description.header.seq
+            description.score = 1
+            description.max_size = Vector3(*[0.2, 0.2, 0.2])
+            size = int(right-left), int(bottom-top)
+            description.bbox.center.x = int(left) + int(size[1]/2)
+            description.bbox.center.y = int(top) + int(size[0]/2)
+            description.bbox.size_x = bottom-top
+            description.bbox.size_y = right-left
+
+            cv2.rectangle(debug_img, (left, top), (right, bottom), (0, 255, 0), 2)
+            
+            font = cv2.FONT_HERSHEY_DUPLEX
+            cv2.putText(debug_img, name, (left + 4, bottom - 4), font, 0.5, (0,0,255), 2)
+            description_header.seq += 1
+
+            face_rec.descriptions.append(description)
+            
+        self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'bgr8'))
+        if len(face_rec.descriptions) > 0:
+            self.face_recognition_publisher.publish(face_rec)
+
+    def readParameters(self):
+        self.debug_topic = rospy.get_param("~publishers/debug/topic", "/butia_vision/br/debug")
+        self.debug_qs = rospy.get_param("~publishers/debug/queue_size", 1)
+
+        self.face_recognition_topic = rospy.get_param("~publishers/face_recognition/topic", "/butia_vision/br/face_recognition")
+
+        self.face_recognition_qs = rospy.get_param("~publishers/face_recognition/queue_size", 1)
+
+        self.introduct_person_servername = rospy.get_param("~servers/introduct_person/servername", "/butia_vision/br/introduct_person")
+
+        super().readParameters()
+        rospy.loginfo('foi 1')
+
+
+if __name__ == '__main__':
+    rospy.init_node('face_recognition_node', anonymous = True)
+    
+    face_rec = FaceRecognition()
+
+    rospy.spin()
diff --git a/butia_recognition/scripts/butia_recognition/face_recognition/face_recognit.py b/butia_recognition/scripts/butia_recognition/face_recognition/face_recognit.py
new file mode 100644
index 00000000..d131670b
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/face_recognition/face_recognit.py
@@ -0,0 +1,282 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rospy
+
+import ros_numpy
+
+from butia_recognition import BaseRecognition, ifState
+
+import torch
+import numpy as np
+import os
+from copy import copy
+import cv2
+import face_recognition
+import time
+from openface import helper
+
+from std_msgs.msg import Header
+from sensor_msgs.msg import Image
+from butia_vision_msgs.msg import Description2D, Recognitions2D
+from butia_vision_msgs.srv import PeopleIntroducing
+class FaceRecognition(BaseRecognition):
+    def __init__(self, state=True):
+        super().__init__(state=state)
+        self.readParameters()
+
+        self.initRosComm()
+
+        self.face_enconder()
+
+    def initRosComm(self):
+        self.debug_publisher = rospy.Publisher(self.debug_topic, Image, queue_size=self.debug_qs)
+        self.face_recognition_publisher = rospy.Publisher(self.face_recognition_topic, Recognitions2D, queue_size=self.face_recognition_qs)
+        self.introduct_person_service = rospy.Service(self.introduct_person_servername, PeopleIntroducing, self.PeopleIntroducing) #possivelmente trocar self.encode_faces
+
+        super().initRosComm(callbacks_obj=self)
+        rospy.loginfo('foi 2')
+
+    def regressiveCounter(self, sec):
+        for i  in range(0, sec):
+            print(str(sec-i) + '...')
+            time.sleep(1)
+
+    def encode_faces(self):
+
+        train_direct = '/home/butiabots/Desktop/testes_joao/face_recognition/train_dir/'
+        encodings = []
+        names = []
+        encoded_face = {}
+
+        train_dir = os.listdir(train_direct)
+
+        for person in train_dir:
+            pix = os.listdir(train_direct + person)
+
+            # Loop through each training image for the current person
+            for person_img in pix:
+                # Get the face encodings for the face in each image file
+                face = face_recognition.load_image_file(train_direct + person + "/" + person_img)
+                print(person)
+                face_bounding_boxes = face_recognition.face_locations(face)
+
+                #If training image contains exactly one face
+                if len(face_bounding_boxes) == 1:
+                    face_enc = face_recognition.face_encodings(face)[0]
+                    # Add face encoding for current image with corresponding label (name) to the training data
+                    encodings.append(face_enc)
+                    #print (encodings)
+                    if person not in names:
+                        names.append(person)
+                        encoded_face[person] = []
+                        encoded_face[person].append(face_enc)
+                    else:
+                        encoded_face[person].append(face_enc)
+                else:
+                    print(person + "/" + person_img + " was skipped and can't be used for training")
+        print(encoded_face)
+    
+
+    def PeopleIntroducing(self, ros_srv):
+
+        DATASET_DIR = '/home/butiabots/Desktop/testes_joao/face_recognition/train_dir/'
+
+        name = ros_srv.name
+        num_images = ros_srv.num_images
+        NAME_DIR = os.path.join(DATASET_DIR, name)
+        helper.mkdirP(NAME_DIR)
+
+        image_type = '.jpg'
+
+        image_labels = os.listdir(NAME_DIR)
+        add_image_labels = []
+        i = 1
+        k = 0
+        j = num_images
+        number = [] 
+        for label in image_labels:
+            number.append(int(label.replace(image_type, '')))
+        
+        number.sort()
+        n = 1
+        while j > 0:
+            if k < len(number):
+                n = number[k] + 1
+                if number[k] == i:
+                    k += 1
+                else:
+                    add_image_labels.append((str(i) + image_type))
+                    j -= 1      
+                i += 1 
+
+            else:
+                add_image_labels.append(str(n) + image_type)
+                j -= 1
+                n += 1
+        
+        num_images = ros_srv.num_images
+
+        i = 0
+        while i<num_images:
+            self.regressiveCounter(ros_srv.interval)
+            print("vo entra em")
+            try:
+                print("Entrei")
+
+                ros_image_aux = rospy.wait_for_message(self.image_topic, Image, 1000)
+            except (ROSException, ROSInterruptException) as e:
+                print(e)
+                print("pq eu to aq")
+                break
+            ros_image = ros_numpy.numpify(ros_image_aux)
+            ros_image = np.flip(ros_image)
+            ros_image = np.flipud(ros_image)
+            face = face_recognition.face_locations(ros_image, model='cnn')
+            print("detectei o rosto")
+            s_rgb_image = ros_image.copy() 
+            #if face != None:
+             #   if len(face):
+              #      top, right, bottom, left = face[0]
+               #     cv2.rectangle(s_rgb_image, (left, top), (right, bottom), (0, 0, 255), 2)
+
+            cv2.imshow("Person", s_rgb_image)
+
+            if face != None:
+                rospy.logwarn('Picture ' + add_image_labels[i] + ' was  saved.')
+                cv2.imwrite(os.path.join(NAME_DIR, add_image_labels[i]), ros_image)
+                i+= 1
+            else:
+                rospy.logerr("The face was not detected.")
+
+
+        cv2.destroyAllWindows()
+
+        return self.encode_faces()
+    
+    @ifState
+    def callback(self, *args):
+
+        # Initialize some variables
+        # face_names = []
+        face_locations = []
+        face_encodings = []
+        process_this_frame = True
+
+        face_rec = Recognitions2D()
+        description = Description2D()
+        img = None
+        points = None
+        if len(args):
+            img = args[0]
+            points = args[1]
+
+        rospy.loginfo('Image ID: ' + str(img.header.seq))
+
+        #cv_img = np.flip(ros_numpy.numpify(img),2)
+        cv_img = ros_numpy.numpify(img)
+
+        # Resize frame of video to 1/4 size for faster face recognition processing
+        #small_frame = cv2.resize(cv_img, (0, 0), fx=0.25, fy=0.25)
+
+        # Convert the image from BGR color (which OpenCV uses) to RGB color (which face_recognition uses)
+        #rgb_small_frame = small_frame[:, :, ::-1]
+        cv_img_small_frame = cv_img[:, :, ::-1]
+
+
+        # Only process every other frame of video to save time
+        if process_this_frame:
+
+            # Find all the faces and face encodings in the current frame of video
+            face_locations = face_recognition.face_locations(cv_img_small_frame, model = 'cnn')
+            face_encodings = face_recognition.face_encodings(cv_img_small_frame, face_locations)
+            #print(face_locations)
+            #print(face_encodings)
+            face_names = []
+            for face_encoding in face_encodings:
+
+                # See if the face is a match for the known face(s)
+                matches = face_recognition.compare_faces(self.known_face_encodings, face_encoding)
+                name = "Unknown"
+
+                # # If a match was found in known_face_encodings, just use the first one.
+                # if True in matches:
+                #     first_match_index = matches.index(True)
+                #     name = known_face_names[first_match_index]
+
+                # Or instead, use the known face with the smallest distance to the new face
+                face_distances = face_recognition.face_distance(self.known_face_encodings, face_encoding)
+                best_match_index = np.argmin(face_distances)
+
+                if matches[best_match_index]:
+                    name = self.known_face_names[best_match_index]
+
+                description.label = name
+
+                face_rec.descriptions.append(description)
+
+        process_this_frame = not process_this_frame
+
+        
+        debug_img = copy(cv_img_small_frame)
+
+        h = Header()
+        h.seq = self.seq
+        self.seq += 1
+        h.stamp = rospy.Time.now()
+
+
+        #print(face_locations) self.image_topic
+        # Display the results
+        for (top, right, bottom, left), name in zip(face_locations, face_encodings):
+
+            # Scale back up face locations since the frame we detected in was scaled to 1/4 size
+            #top *= 4
+            #right *= 4
+            #bottom *= 4
+            #left *= 4
+            description_header = img.header
+            description_header.seq = 0
+            description.header = copy(description_header)
+            description.type = Description2D.DETECTION
+            description.id = description.header.seq
+            description.score = 1
+            size = int(right-left), int(top-bottom)
+            description.bbox.center.x = int(bottom) + int(size[0]/2)
+            description.bbox.center.y = int(left) + int(size[1]/2)
+            description.bbox.size_x = right-left
+            description.bbox.size_y = top-bottom
+
+            cv2.rectangle(debug_img, (left, top), (right, bottom), (0, 255, 0), 2)
+
+            # Draw a label with a name below the faceface_recognition_node
+            font = cv2.FONT_HERSHEY_DUPLEX
+            #cv2.putText(debug_img, str(name), (left + 4, bottom - 4), font, 1.0, (0,0,255), 2)
+            description_header.seq += 1
+        
+        self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
+
+        if len(face_rec.descriptions) > 0:
+            print('vou publicar ein')
+            self.face_recognition_publisher.publish(face_rec)
+
+    def readParameters(self):
+        self.debug_topic = rospy.get_param("~publishers/debug/topic", "/butia_vision/br/debug")
+        self.debug_qs = rospy.get_param("~publishers/debug/queue_size", 1)
+
+        self.face_recognition_topic = rospy.get_param("~publishers/face_recognition/topic", "/butia_vision/br/face_recognition")
+        self.face_recognition_qs = rospy.get_param("~publishers/face_recognition/queue_size", 1)
+
+        self.image_topic = rospy.get_param('/face_recognition/subscribers/camera_reading/topic', '/usb_cam/image_raw')
+
+        self.introduct_person_servername = rospy.get_param("~servers/introduct_person/servername", "/butia_vision/br/introduct_person")
+
+        super().readParameters()
+        rospy.loginfo('foi 1')
+
+
+if __name__ == '__main__':
+    rospy.init_node('face_recognition_node', anonymous = True)
+    
+    face_rec = FaceRecognition()
+
+    rospy.spin()
diff --git a/butia_recognition/scripts/butia_recognition/yolo_tracker_recognition/yolo_tracker_recognition.py b/butia_recognition/scripts/butia_recognition/yolo_tracker_recognition/yolo_tracker_recognition.py
new file mode 100755
index 00000000..77816c93
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/yolo_tracker_recognition/yolo_tracker_recognition.py
@@ -0,0 +1,297 @@
+#!/usr/bin/env python
+
+from butia_recognition import BaseRecognition, ifState
+
+import rospy
+import cv2 as cv
+import numpy as np
+import ros_numpy
+import rospkg
+
+from pathlib import Path
+from time import perf_counter
+
+from ultralytics import YOLO
+
+from sensor_msgs.msg import Image
+from std_srvs.srv import EmptyResponse, Empty
+
+from butia_vision_msgs.msg import Recognitions2D, Description2D, KeyPoint2D, Recognitions3D
+from copy import deepcopy
+
+import gc
+import torch
+
+DeepOCSORT = None
+
+class YoloTrackerRecognition(BaseRecognition):
+    def __init__(self,state = True):
+        super().__init__(state=state)
+        self.readParameters()
+        self.loadModel()
+        self.initRosComm()
+        if self.use_boxmot:
+            import boxmot
+            global DeepOCSORT
+            DeepOCSORT = boxmot.DeepOCSORT
+        if self.tracking_on_init:
+            self.startTracking(None)
+        
+        self.lastTrack = perf_counter()
+
+        rospy.loginfo("Yolo Tracker Recognition Node started")
+
+    def initRosComm(self):
+        self.debugPub = rospy.Publisher(self.debug_topic, Image, queue_size=self.debug_qs)
+        self.recognitionPub = rospy.Publisher(self.recognition_topic, Recognitions2D, queue_size=self.recognition_qs)
+        self.trackingPub = rospy.Publisher(self.tracking_topic, Recognitions2D, queue_size=self.tracking_qs)
+        
+        self.trackingStartService = rospy.Service(self.start_tracking_topic, Empty, self.startTracking)
+        self.trackingStopService = rospy.Service(self.stop_tracking_topic, Empty, self.stopTracking)
+        super().initRosComm(callbacks_obj=self)
+
+    
+    def serverStart(self, req):
+        self.loadModel()
+        return super().serverStart(req)
+    
+    def serverStop(self, req):
+        self.unLoadModel()
+        self.stopTracking(None)
+        return super().serverStop(req)
+    
+    def startTracking(self, req):
+        self.loadTrackerModel()
+        self.trackID = -1
+        self.lastTrack = perf_counter()
+        self.tracking = True
+        rospy.loginfo("Tracking started!!!")
+        return EmptyResponse()
+    
+    def stopTracking(self, req):
+        self.tracking = False
+        self.unLoadTrackerModel()
+        rospy.loginfo("Tracking stoped!!!")
+        return EmptyResponse()
+    
+    def loadModel(self):
+        self.model = YOLO(self.model_file)
+        if self.tracking:
+            self.loadTrackerModel()
+    
+    def loadTrackerModel(self):
+        if self.use_boxmot:
+            self.tracker = DeepOCSORT(
+                model_weights=Path(self.reid_model_file),
+                device="cuda:0",
+                fp16=True,
+                det_thresh=self.det_threshold,
+                max_age=self.max_age,
+                iou_threshold=self.iou_threshold)
+        return
+    
+    def unLoadTrackerModel(self):
+        if self.use_boxmot:
+            del self.tracker
+            torch.cuda.empty_cache()
+            self.tracker = None
+        return
+            
+    
+    def unLoadModel(self):
+        del self.model
+        torch.cuda.empty_cache()
+        self.model = None
+        return
+    
+    @ifState
+    def callback(self, *args):
+
+        tracking = self.tracking
+                
+        data = self.sourceDataFromArgs(args)
+        
+        img = data["image_rgb"]
+        img_depth = data["image_depth"]
+        camera_info = data["camera_info"]
+        HEADER = img.header
+
+        recognition = Recognitions2D()
+        recognition.image_rgb = img
+        recognition.image_depth = img_depth
+        recognition.camera_info = camera_info
+        recognition.header = HEADER
+        recognition.descriptions = []
+        img = ros_numpy.numpify(img)        
+
+        debug_img = deepcopy(img)
+        results = None
+        bboxs   = None
+
+        if tracking and self.use_boxmot:
+            results = list(self.model.predict(img, verbose=False, stream=True))
+            bboxs  = self.tracker.update(results[0].boxes.data.cpu().numpy(),img)
+        elif tracking:
+            results = list(self.model.track(img, persist=True,
+                                        conf=self.det_threshold,
+                                        iou=self.iou_threshold,
+                                        device="cuda:0",
+                                        tracker=self.tracker_cfg_file,
+                                        verbose=True, stream=True))
+            bboxs = results[0].boxes.data.cpu().numpy()
+        else:
+            results = list(self.model.predict(img, verbose=False, stream=True))
+            bboxs = results[0].boxes.data.cpu().numpy()
+
+        people_ids = []
+
+        tracked_box = None
+        now = perf_counter()
+        is_aged = (now - self.lastTrack >= self.max_time)
+        is_id_found = False
+        previus_size = float("-inf")
+        new_id = -1
+        # descriptions = []
+        for i, box in enumerate(bboxs):
+            description = Description2D()
+            description.header = HEADER
+
+            X1,Y1,X2,Y2 = box[:4]
+            ID = int(box[4]) if self.tracking and len(box) == 7 else -1
+            score = box[-2]
+            clss = int(box[-1])
+
+            description.bbox.center.x = (X1+X2)/2
+            description.bbox.center.y = (Y1+Y2)/2
+            description.bbox.size_x = X2-X1
+            description.bbox.size_y = Y2-Y1
+            description.label = self.model.names[clss]
+            description.type = Description2D.DETECTION
+            description.score = score
+            description.class_num = clss
+            description.id = i
+
+            box_label = ""
+            if tracking:
+                description.global_id = ID
+                if description.label == "person":
+                    people_ids.append(ID)                 
+                
+                box_label = f"ID:{ID} "
+                size = description.bbox.size_x * description.bbox.size_y
+
+                if ID == self.trackID:
+                    is_id_found = True
+                    tracked_box = description
+
+                if (not is_id_found) and (is_aged or self.trackID == -1):
+                    if tracked_box is None or size > previus_size:
+                        previus_size = size
+                        tracked_box = description
+                        new_id = ID                    
+
+            recognition.descriptions.append(description)
+
+            cv.rectangle(debug_img,(int(X1),int(Y1)), (int(X2),int(Y2)),(0,0,255),thickness=2)
+            cv.putText(debug_img,f"{box_label}{self.model.names[clss]}:{score:.2f}", (int(X1), int(Y1)), cv.FONT_HERSHEY_SIMPLEX,0.75,(0,0,255),thickness=2)
+        
+        track_recognition = Recognitions2D()
+        track_recognition.header = HEADER
+        tracked_description : Description2D = deepcopy(tracked_box)
+        if tracked_box is not None:
+            track_recognition.header = recognition.header
+            track_recognition.image_rgb = recognition.image_rgb
+            track_recognition.image_depth = recognition.image_depth
+            track_recognition.camera_info = recognition.camera_info
+            tracked_description.type = Description2D.DETECTION
+            if not is_id_found:
+                self.trackID = new_id
+            # recognition.descriptions.append(tracked_box)
+            self.lastTrack = now
+            cv.rectangle(debug_img,(int(tracked_box.bbox.center.x-tracked_box.bbox.size_x/2),\
+                                    int(tracked_box.bbox.center.y-tracked_box.bbox.size_y/2)),\
+                                    (int(tracked_box.bbox.center.x+tracked_box.bbox.size_x/2),\
+                                    int(tracked_box.bbox.center.y+tracked_box.bbox.size_y/2)),(255,0,0),thickness=2)
+            
+        
+        if results[0].keypoints != None:
+            poses = results[0].keypoints.data.cpu().numpy()
+            scores = results[0].boxes.conf.cpu().numpy()
+            poses_idx = scores > self.det_threshold
+            poses = poses[poses_idx]
+            counter = 0
+            # if not tracking or len(people_ids) == len(poses):
+            desc : Description2D
+            for desc in recognition.descriptions:
+                if desc.label == "person" and desc.score >= self.det_threshold:
+                    desc.type = Description2D.POSE
+                    # rospy.logwarn(desc.score)
+                    for idx, kpt in enumerate(poses[counter]):
+                        keypoint = KeyPoint2D()
+                        keypoint.x = kpt[0]
+                        keypoint.y = kpt[1]
+                        keypoint.id = idx
+                        keypoint.score = kpt[2]
+                        desc.pose.append(keypoint)
+                        if kpt[2] >= self.threshold:
+                            cv.circle(debug_img, (int(kpt[0]), int(kpt[1])),3,(0,255,0),thickness=-1)
+                        if tracking:
+                            desc.global_id = people_ids[counter]
+                    if tracked_box != None and tracked_description.global_id == desc.global_id:
+                        desc.header = HEADER
+                        tracked_description = desc
+                        for kpt in desc.pose:
+                            if kpt.score >= self.threshold:
+                                cv.circle(debug_img, (int(kpt.x), int(kpt.y)),3,(0,255,255),thickness=-1)
+                    counter +=1
+
+        track_recognition.descriptions.append(tracked_description)
+        debug_msg = ros_numpy.msgify(Image, debug_img, encoding='bgr8')
+        debug_msg.header = HEADER
+        self.debugPub.publish(debug_msg)
+        
+        if len(recognition.descriptions) > 0:
+            self.recognitionPub.publish(recognition)
+        if tracked_box != None and len(track_recognition.descriptions) > 0:
+            self.trackingPub.publish(track_recognition)
+        
+    def readParameters(self):
+        self.debug_topic = rospy.get_param("~publishers/debug/topic","/butia_vision/br/debug")
+        self.debug_qs = rospy.get_param("~publishers/pose_recognition/queue_size",1)
+
+        self.recognition_topic = rospy.get_param("~publishers/recognition/topic", "/butia_vision/br/recognition")
+        self.recognition_qs = rospy.get_param("~publishers/recognition/queue_size", 1)
+
+        self.start_tracking_topic = rospy.get_param("~services/tracking/start","/butia_vision/pt/start")
+        self.stop_tracking_topic = rospy.get_param("~services/tracking/stop","/butia_vision/pt/stop")
+        
+        self.tracking_topic = rospy.get_param("~publishers/tracking/topic", "pub/tracking2d")
+        self.tracking_qs = rospy.get_param("~publishers/tracking/queue_size", 1)
+
+        self.threshold = rospy.get_param("~debug_kpt_threshold", 0.5)
+
+        r = rospkg.RosPack()
+
+        r.list()
+        self.model_file = r.get_path("butia_recognition") + "/weigths/" + rospy.get_param("~model_file","yolov8n-pose")
+        self.reid_model_file = rospy.get_param("~tracking/model_file","osnet_x0_25_msmt17.pt")
+
+        self.det_threshold = rospy.get_param("~tracking/thresholds/det_threshold", 0.5)
+        self.reid_threshold = rospy.get_param("~tracking/thresholds/reid_threshold", 0.3)
+        self.iou_threshold = rospy.get_param('~tracking/thresholds/iou_threshold',0.5)
+        self.max_time = rospy.get_param("~tracking/thresholds/max_time",60)
+        self.max_age = rospy.get_param("~tracking/thresholds/max_age",5)
+        self.tracking_on_init = rospy.get_param("~tracking/start_on_init", False)
+        self.use_boxmot = rospy.get_param("~tracking/use_boxmot", False)
+
+        self.tracker_cfg_file = r.get_path("butia_recognition") + "/" + rospy.get_param("~tracker-file","")
+
+        self.tracking = False
+
+        super().readParameters()
+    
+   
+if __name__ == "__main__":
+    rospy.init_node("yolo_tracker_recognition_node", anonymous = True)
+    yolo = YoloTrackerRecognition()
+    rospy.spin()
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition/yolov5_recognition/yolov5_recognition.py b/butia_recognition/scripts/butia_recognition/yolov5_recognition/yolov5_recognition.py
index 45011e41..038596cf 100755
--- a/butia_recognition/scripts/butia_recognition/yolov5_recognition/yolov5_recognition.py
+++ b/butia_recognition/scripts/butia_recognition/yolov5_recognition/yolov5_recognition.py
@@ -17,8 +17,6 @@
 from geometry_msgs.msg import Vector3
 from butia_vision_msgs.msg import Description2D, Recognitions2D
 
-torch.set_num_threads(1)
-
 class YoloV5Recognition(BaseRecognition):
     def __init__(self, state=True):
         super().__init__(state=state)
@@ -67,8 +65,8 @@ def callback(self, *args):
 
             rospy.loginfo('Image ID: ' + str(img.header.seq))
 
+            #cv_img = np.flip(ros_numpy.numpify(img),2)
             cv_img = ros_numpy.numpify(img)
-
             results = self.model(cv_img)
   
             debug_img = copy(cv_img)
@@ -89,6 +87,7 @@ def callback(self, *args):
 
             description_header = img.header
             description_header.seq = 0
+
             for i in range(len(bbs_l)):
                 class_id = int(bbs_l['class'][i])
 
@@ -120,12 +119,12 @@ def callback(self, *args):
 
                 elif (label_class in [val for sublist in self.classes for val in sublist] or label_class in self.classes) and bbs_l['confidence'][i] >= self.threshold:
                     index = None
-                    j = 0
-                    for value in self.classes_by_category.values():
-                        if label_class in value:
-                            index = j
-                        j += 1
-                    description.label = self.classes[index] + '/' + label_class if index is not None else label_class
+                    
+                    for value in self.classes_by_category.items():
+                        if label_class in value[1]:
+                            index = value[0]
+
+                    description.label = index + '/' + label_class if index is not None else label_class
 
                     objects_recognition.descriptions.append(description)
 
@@ -133,7 +132,7 @@ def callback(self, *args):
                 debug_img = cv2.putText(debug_img, label_class, (int(bbs_l['xmin'][i]), int(bbs_l['ymin'][i])), cv2.FONT_HERSHEY_SIMPLEX, 1.0, color=self.colors[label_class])
                 description_header.seq += 1
             
-            self.debug_publisher.publish(ros_numpy.msgify(Image, np.flip(debug_img, 2), 'rgb8'))
+            self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
 
             if len(objects_recognition.descriptions) > 0:
                 self.object_recognition_publisher.publish(objects_recognition)
diff --git a/butia_recognition/scripts/butia_recognition/yolov8_recognition/__init__.py b/butia_recognition/scripts/butia_recognition/yolov8_recognition/__init__.py
new file mode 100644
index 00000000..421055ec
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/yolov8_recognition/__init__.py
@@ -0,0 +1 @@
+from .yolov8_recognition import *
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition/yolov8_recognition/backup_do_arquivo_padrao.py b/butia_recognition/scripts/butia_recognition/yolov8_recognition/backup_do_arquivo_padrao.py
new file mode 100644
index 00000000..e96facc3
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/yolov8_recognition/backup_do_arquivo_padrao.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rospy
+
+import rospkg
+
+from sensor_msgs.msg import Image
+from std_srvs.srv import Empty, EmptyResponse
+
+from butia_vision_msgs.srv import ListClasses, ListClassesResponse
+
+from butia_vision_bridge import VisionSynchronizer
+
+def ifState(func):
+    def wrapper_func(*args, **kwargs):
+        if args[0].state:
+            func(*args, **kwargs)
+    return wrapper_func
+
+
+class BaseRecognition:
+    def __init__(self, state=True):
+        self.readParameters()
+
+        self.rospack = rospkg.RosPack().get_path('butia_generic_recognition')
+
+        self.state = state
+
+    def initRosComm(self):
+        self.recognized_objects_pub = rospy.Publisher(self.object_recognition_topic, Recognitions2D, queue_size=self.object_recognition_qs)
+
+        self.list_objects_server = rospy.Service(self.list_objects_service, ListClasses, self.getObjectList)
+
+        self.start_server = rospy.Service(self.start_service, Empty, self.start)
+
+        self.stop_server = rospy.Service(self.stop_service, Empty, self.stop)
+
+    def start(self, req):
+        self.state = True
+        return EmptyResponse()
+
+    def stop(self, req):
+        self.state = False
+        return EmptyResponse()
+
+    def getObjectList(self, req):
+        objects_list = []
+        for key, value in self.classes_by_category.items():
+            for elem in value:
+                objects_list.append(key + '/' + elem)
+        return ListClassesResponse(objects_list)
+
+    def yoloRecognitionCallback(self, img):
+
+        if self.state == True:
+
+            with torch.no_grad():
+
+                rospy.loginfo('Image ID: ' + str(img.header.seq))
+
+                cv_img = np.frombuffer(img.data, dtype=np.uint8).reshape(img.height, img.width, -1)
+
+                #cv_img = self.bridge.imgmsg_to_cv2(img, desired_encoding='rgb8').copy()
+
+                #results = self.model(torch.tensor(cv_img.reshape((1, 3, 640, 480)).astype(np.float32)).to(self.model.device))
+                results = self.model(cv_img)
+
+                bbs_l = results.pandas().xyxy[0]
+
+                objects = []
+                people = []
+
+                for i in range(len(bbs_l)):
+
+                    if int(bbs_l['class'][i]) >= len(self.all_classes):
+                        continue
+                    bbs_l['name'][i] = self.all_classes[int(bbs_l['class'][i])]
+                    reference_model = bbs_l['name'][i]
+                    print(bbs_l['name'][i])
+                    #cv_img = cv2.cvtColor(cv_img, cv2.COLOR_RGB2BGR)
+                    cv_img = cv2.rectangle(cv_img, (int(bbs_l['xmin'][i]), int(bbs_l['ymin'][i])), (int(bbs_l['xmax'][i]), int(bbs_l['ymax'][i])), self.colors[bbs_l['name'][i]])
+                    cv_img = cv2.putText(cv_img, bbs_l['name'][i], (int(bbs_l['xmin'][i]), int(bbs_l['ymin'][i])), cv2.FONT_HERSHEY_SIMPLEX, 1.0, color=self.colors[bbs_l['name'][i]])
+                    if ('people' in self.all_classes and bbs_l['name'][i] in self.classes_by_category['people'] or 'people' in self.all_classes and bbs_l['name'][i] == 'people') and bbs_l['confidence'][i] >= self.threshold:
+
+                        person = Description()
+                        person.label_class = 'people' + '/' + bbs_l['name'][i]
+                        person.reference_model = reference_model
+                        person.probability = bbs_l['confidence'][i]
+                        person.bounding_box.minX = int(bbs_l['xmin'][i])
+                        person.bounding_box.minY = int(bbs_l['ymin'][i])
+                        person.bounding_box.width = int(bbs_l['xmax'][i] - bbs_l['xmin'][i])
+                        person.bounding_box.height = int(bbs_l['ymax'][i] - bbs_l['ymin'][i])
+                        people.append(person)
+
+                    elif (bbs_l['name'][i] in [val for sublist in self.all_classes for val in sublist] or bbs_l['name'][i] in self.all_classes) and bbs_l['confidence'][i] >= self.threshold:
+
+                        object_d = Description()
+                        index = None
+                        j = 0
+                        for value in self.classes_by_category.values():
+                            if bbs_l['name'][i] in value:
+                                index = j
+                            j += 1
+                        object_d.reference_model = reference_model
+                        object_d.label_class = self.all_classes[index] + '/' + bbs_l['name'][i] if index is not None else bbs_l['name'][i]
+
+                        object_d.probability = bbs_l['confidence'][i]
+                        object_d.bounding_box.minX = int(bbs_l['xmin'][i])
+                        object_d.bounding_box.minY = int(bbs_l['ymin'][i])
+                        object_d.bounding_box.width = int(bbs_l['xmax'][i] - bbs_l['xmin'][i])
+                        object_d.bounding_box.height = int(bbs_l['ymax'][i]- bbs_l['ymin'][i])
+                        objects.append(object_d)
+
+                #cv2.imshow('YoloV5', cv_img)
+                #cv2.waitKey(1)
+
+                debug_msg = Image()
+                debug_msg.data = cv_img[:,:,::-1].flatten().tolist()
+                debug_msg.encoding = "rgb8"
+                debug_msg.width = cv_img.shape[1]
+                debug_msg.height = cv_img.shape[0]
+                debug_msg.step = debug_msg.width*3
+                self.debug_image_pub.publish(debug_msg)
+
+                objects_msg = Recognitions()
+                people_msg = Recognitions()
+
+                if len(objects) > 0:
+                    #objects_msg.header = bbs.header
+                    objects_msg.image_header = img.header
+                    objects_msg.descriptions = objects
+                    self.recognized_objects_pub.publish(objects_msg)
+
+                if len(people) > 0:
+                    #people_msg.header = bbs.header
+                    people_msg.image_header = img.header
+                    people_msg.descriptions = people
+                    self.recognized_people_pub.publish(people_msg)
+
+    def readParameters(self):
+        self.bounding_boxes_topic = rospy.get_param("/object_recognition/subscribers/bounding_boxes/topic", "/darknet_ros/bounding_boxes")
+        self.bounding_boxes_qs = rospy.get_param("/object_recognition/subscribers/bounding_boxes/queue_size", 1)
+
+        self.image_topic = rospy.get_param("/object_recognition/subscribers/image/topic", "/butia_vision/bvb/image_rgb_raw")
+        self.image_qs = rospy.get_param("/object_recognition/subscribers/image/queue_size", 1)
+
+        self.debug_image_topic = rospy.get_param("/object_recognition/publishers/debug_image/topic", "/butia_vision/or/debug")
+        self.debug_image_qs = rospy.get_param("/object_recognition/publishers/debug_image/queue_size", 1)
+
+        self.object_recognition_topic = rospy.get_param("/object_recognition/publishers/object_recognition/topic", "/butia_vision/or/object_recognition")
+        self.object_recognition_qs = rospy.get_param("/object_recognition/publishers/object_recognition/queue_size", 1)
+
+        self.people_detection_topic = rospy.get_param("/object_recognition/publishers/people_detection/topic", "/butia_vision/or/people_detection")
+        self.people_detection_qs = rospy.get_param("/object_recognition/publishers/people_detection/queue_size", 1)
+
+        self.object_list_updated_topic = rospy.get_param("/object_recognition/publishers/object_list_updated/topic", "/butia_vision/or/object_list_updated")
+        self.object_list_updated_qs = rospy.get_param("/object_recognition/publishers/object_list_updated/queue_size", 1)
+
+        self.list_objects_service = rospy.get_param("/object_recognition/servers/list_objects/service", "/butia_vision/or/list_objects")
+        self.start_service = rospy.get_param("/object_recognition/servers/start/service", "/butia_vision/or/start")
+        self.stop_service = rospy.get_param("/object_recognition/servers/stop/service", "/butia_vision/or/stop")
+
+        self.threshold = rospy.get_param("/object_recognition/threshold", 0.5)
+
+        self.all_classes = list(rospy.get_param("/object_recognition/all_classes"))
+
+        self.classes_by_category = dict(rospy.get_param("/object_recognition/classes_by_category"))
+
+        self.model_file = rospy.get_param("/object_recognition/model_file", "larc2021_go_and_get_it.pt")
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition/yolov8_recognition/yolov8_recognition.py b/butia_recognition/scripts/butia_recognition/yolov8_recognition/yolov8_recognition.py
new file mode 100755
index 00000000..fc9497e7
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition/yolov8_recognition/yolov8_recognition.py
@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rospy
+import ros_numpy
+from butia_recognition import BaseRecognition, ifState
+import numpy as np
+import os
+from copy import copy
+import cv2
+from ultralytics import YOLO
+from std_msgs.msg import Header
+from sensor_msgs.msg import Image
+from geometry_msgs.msg import Vector3
+from butia_vision_msgs.msg import Description2D, Recognitions2D
+import torch
+
+
+class YoloV8Recognition(BaseRecognition):
+    def __init__(self, state=True):
+        super().__init__(state=state)
+
+        self.readParameters()
+
+        self.colors = dict([(k, np.random.randint(low=0, high=256, size=(3,)).tolist()) for k in self.classes])
+
+        self.loadModel()
+        self.initRosComm()
+
+    def initRosComm(self):
+        self.debug_publisher = rospy.Publisher(self.debug_topic, Image, queue_size=self.debug_qs)
+        self.object_recognition_publisher = rospy.Publisher(self.object_recognition_topic, Recognitions2D, queue_size=self.object_recognition_qs)
+        self.people_detection_publisher = rospy.Publisher(self.people_detection_topic, Recognitions2D, queue_size=self.people_detection_qs)
+        super().initRosComm(callbacks_obj=self)
+
+    def serverStart(self, req):
+        self.loadModel()
+        return super().serverStart(req)
+
+    def serverStop(self, req):
+        self.unLoadModel()
+        return super().serverStop(req)
+
+    def loadModel(self): 
+        self.model = YOLO("/home/jetson/sd/butia_ws/src/butia_vision/butia_recognition/config/yolov8_network_config/yolov8_bag.pt")
+        self.model.conf = self.threshold
+        print('Done loading model!')
+
+    def unLoadModel(self):
+        del self.model
+        torch.cuda.empty_cache()
+        self.model = None
+
+    @ifState
+    def callback(self, *args):
+        source_data = self.sourceDataFromArgs(args)
+
+        if 'image_rgb' not in source_data:
+            rospy.logwarn('Souce data has no image_rgb.')
+            return None
+        
+        img_rgb = source_data['image_rgb']
+        cv_img = ros_numpy.numpify(img_rgb)
+        rospy.loginfo('Image ID: ' + str(img_rgb.header.seq))
+        
+        objects_recognition = Recognitions2D()
+        h = Header()
+        h.seq = self.seq #id mensagem
+        self.seq += 1 #prox id
+        h.stamp = rospy.Time.now()
+
+        objects_recognition.header = h
+        objects_recognition = BaseRecognition.addSourceData2Recognitions2D(source_data, objects_recognition)
+        people_recognition = copy(objects_recognition)
+        description_header = img_rgb.header
+        description_header.seq = 0
+
+        results = list(self.model.predict(cv_img, verbose=False, stream=True))
+        boxes_ = results[0].boxes.cpu().numpy()
+
+        if len(results[0].boxes):
+            for i in range(len(results[0].boxes)):
+                box = results[0].boxes[i]
+                xyxy_box = list(boxes_[i].xyxy.astype(int)[0])
+                
+                if int(box.cls) >= len(self.all_classes):
+                    continue
+
+                label_class = self.all_classes[int(box.cls)]
+
+
+                description = Description2D()
+                description.header = copy(description_header)
+                description.type = Description2D.DETECTION
+                description.id = description.header.seq
+                description.score = float(box.conf)
+                description.max_size = Vector3(*[0.5, 0.5, 0.5])
+                size = int(xyxy_box[2] - xyxy_box[0]), int(xyxy_box[3] - xyxy_box[1])
+                description.bbox.center.x = int(xyxy_box[0]) + int(size[0]/2)
+                description.bbox.center.y = int(xyxy_box[1]) + int(size[1]/2)
+                description.bbox.size_x = size[0]
+                description.bbox.size_y = size[1]
+
+                if ('people' in self.all_classes and label_class in self.classes_by_category['people'] or 'people' in self.all_classes and label_class == 'people') and box.conf >= self.threshold:
+
+                    description.label = 'people' + '/' + label_class
+                    people_recognition.descriptions.append(description)
+
+                elif (label_class in [val for sublist in self.all_classes for val in sublist] or label_class in self.all_classes) and box.conf >= self.threshold:
+                    index = None
+
+                    for value in self.classes_by_category.items():
+                        if label_class in value[1]:
+                            index = value[0]
+
+                    description.label = index + '/' + label_class if index is not None else label_class
+                    objects_recognition.descriptions.append(description)
+
+                debug_img = results[0].plot()
+                description_header.seq += 1
+            
+            self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
+
+            if len(objects_recognition.descriptions) > 0:
+                self.object_recognition_publisher.publish(objects_recognition)
+
+            if len(people_recognition.descriptions) > 0:
+                self.people_detection_publisher.publish(people_recognition)       
+        else:
+            debug_img = results[0].plot()            
+            self.debug_publisher.publish(ros_numpy.msgify(Image, debug_img, 'rgb8'))
+
+    def readParameters(self):
+        self.debug_topic = rospy.get_param("~publishers/debug/topic", "/butia_vision/br/debug")
+        self.debug_qs = rospy.get_param("~publishers/debug/queue_size", 1)
+
+        self.object_recognition_topic = rospy.get_param("~publishers/object_recognition/topic", "/butia_vision/br/object_recognition")
+        self.object_recognition_qs = rospy.get_param("~publishers/object_recognition/queue_size", 1)
+
+        self.people_detection_topic = rospy.get_param("~publishers/people_detection/topic", "/butia_vision/br/people_detection")
+        self.people_detection_qs = rospy.get_param("~publishers/people_detection/queue_size", 1)
+
+        self.threshold = rospy.get_param("~threshold", 0.5)
+
+
+        self.all_classes = list(rospy.get_param("~all_classes", []))
+        self.classes_by_category = dict(rospy.get_param("~classes_by_category", {}))
+        self.model_file = rospy.get_param("~model_file", "yolov8_lab_objects.pt")
+
+        super().readParameters()
+
+if __name__ == '__main__':
+    rospy.init_node('yolov8_recognition_node', anonymous = True)
+
+    yolo = YoloV8Recognition()
+
+    rospy.spin()
\ No newline at end of file
diff --git a/butia_recognition/scripts/butia_recognition_pytorch_node_v8.py b/butia_recognition/scripts/butia_recognition_pytorch_node_v8.py
new file mode 100644
index 00000000..0924a3c8
--- /dev/null
+++ b/butia_recognition/scripts/butia_recognition_pytorch_node_v8.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+import rospy
+
+from butia_recognition import YoloV8Recognition
+
+if __name__ == '__main__':
+    rospy.init_node('butia_recognition_pytorch_node', anonymous = True)
+
+    yolo = YoloV8Recognition()
+
+    rospy.spin()
diff --git a/butia_recognition/weigths/tmpoxfg42bv b/butia_recognition/weigths/tmpoxfg42bv
new file mode 100644
index 00000000..e8163620
Binary files /dev/null and b/butia_recognition/weigths/tmpoxfg42bv differ
diff --git a/butia_vision_launchfiles/butia_recognition_test.launch b/butia_vision_launchfiles/butia_recognition_test.launch
new file mode 100644
index 00000000..7d3408b2
--- /dev/null
+++ b/butia_vision_launchfiles/butia_recognition_test.launch
@@ -0,0 +1,35 @@
+<launch>
+    <arg name="machine" default="localhost"/>
+    <arg name="bvb_machine" default="$(arg machine)"/>
+    <arg name="br_machine" default="$(arg machine)"/>
+    <arg name="i2w_machine" default="$(arg machine)"/>
+    <arg name="use_machine" default="true"/>
+    <arg name="output" default="screen"/>
+    <arg name="use_kinect" default="true"/>
+    <arg name="use_bridge" default="false"/>
+    <arg name="use_image2world" default="true"/>
+    <arg name="publish_tf" default="true"/>
+    <arg name="config_file" default="object_recognition_larc2021_real.yaml"/>
+    <arg name="node_name" default="butia_object_recognition_node"/>
+
+    <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+    <include file="$(find butia_vision_bridge)/launch/butia_vision_bridge.launch">
+        <arg name="machine" value="$(arg bvb_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="use_kinect" value="$(arg use_kinect)"/>
+        <arg name="use_bridge" value="$(arg use_bridge)"/>
+        <arg name="publish_tf" value="$(arg publish_tf)"/>
+    </include>
+
+    <include file="$(find butia_recognition)/launch/yolov5_object_detection.launch">
+        <arg name="machine" value="$(arg br_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="node_name" value="$(arg node_name)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="config_file" value="$(arg config_file)"/>
+    </include>
+
+</launch>
+
diff --git a/butia_vision_launchfiles/face_rec.launch b/butia_vision_launchfiles/face_rec.launch
new file mode 100644
index 00000000..1cdeeecf
--- /dev/null
+++ b/butia_vision_launchfiles/face_rec.launch
@@ -0,0 +1,38 @@
+<launch>
+    <arg name="machine" default="localhost"/>
+    <arg name="bvb_machine" default="$(arg machine)"/>
+    <arg name="br_machine" default="$(arg machine)"/>
+    <arg name="i2w_machine" default="$(arg machine)"/>
+    <arg name="use_machine" default="true"/>
+    <arg name="output" default="screen"/>
+    <arg name="use_kinect" default="true"/>
+    <arg name="use_bridge" default="false"/>
+    <arg name="use_image2world" default="true"/>
+    <arg name="publish_tf" default="true"/>
+    <arg name="camera" default="kinect"/>
+
+    <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+    <include file="$(find butia_recognition)/launch/face_rec.launch">
+        <arg name="machine" value="$(arg br_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="output" value="$(arg output)"/>
+    </include>
+
+    <node pkg="butia_image2world" type="image2world.py" output="$(arg output)" name="image2world_face_recognition_node" machine="$(arg machine)">
+        <remap from="sub/recognitions2d"  to="/butia_vision/br/face_recognition"/>
+        <remap from="pub/recognitions3d"  to="/butia_vision/br/face_recognition3d"/>
+        <remap from="pub/markers" to="/butia_vision/br/markers"/>
+        <rosparam param="color">[255,0,0]</rosparam>
+    </node>
+
+    <include file="$(find butia_vision_bridge)/launch/butia_vision_bridge.launch">
+        <arg name="machine" value="$(arg bvb_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="use_bridge" value="$(arg use_bridge)"/>
+        <arg name="publish_tf" value="$(arg publish_tf)"/>
+        <arg name="camera" value="$(arg camera)"/>
+    </include>
+
+</launch>
diff --git a/butia_vision_launchfiles/object_recognition.launch b/butia_vision_launchfiles/object_recognition.launch
index cd64c729..36e2bd25 100644
--- a/butia_vision_launchfiles/object_recognition.launch
+++ b/butia_vision_launchfiles/object_recognition.launch
@@ -8,7 +8,7 @@
     <arg name="use_bridge" default="false"/>
     <arg name="use_image2world" default="true"/>
     <arg name="publish_tf" default="true"/>
-    <arg name="config_file" default="yolov5_object_recognition.yaml"/>
+    <arg name="config_file" default="yolov5_object_lab.yaml"/>
     <arg name="node_name" default="butia_object_recognition_node"/>
     <arg name="camera" default="kinect"/>
 
diff --git a/butia_vision_launchfiles/yolo_tracker_bag_recognition.launch b/butia_vision_launchfiles/yolo_tracker_bag_recognition.launch
new file mode 100644
index 00000000..adcc26b2
--- /dev/null
+++ b/butia_vision_launchfiles/yolo_tracker_bag_recognition.launch
@@ -0,0 +1,47 @@
+<launch>
+<arg name="machine" default="localhost"/>
+    <arg name="bvb_machine" default="$(arg machine)"/>
+    <arg name="br_machine" default="$(arg machine)"/>
+    <arg name="i2w_machine" default="$(arg machine)"/>
+    <arg name="use_machine" default="true"/>
+    <arg name="output" default="screen"/>
+    <arg name="use_bridge" default="false"/>
+    <arg name="use_image2world" default="true"/>
+    <arg name="publish_tf" default="true"/>
+    <arg name="config_file" default="yolo_tracker_bag_recognition.yaml"/>
+    <arg name="node_name" default="yolo_tracker_recognition"/>
+    <arg name="camera" default="realsense"/>
+
+    <include file="$(find butia_vision_bridge)/launch/butia_vision_bridge.launch">
+        <arg name="machine" value="$(arg bvb_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="use_bridge" value="$(arg use_bridge)"/>
+        <arg name="publish_tf" value="$(arg publish_tf)"/>
+        <arg name="camera" value="$(arg camera)"/>
+    </include>
+
+    <include file="$(find butia_recognition)/launch/yolo_tracker_recognition.launch">
+        <arg name="machine" value="$(arg machine)" />
+        <arg name="config_file" value="$(arg config_file)"/>
+    </include>
+
+    <!-- TO USE OLD TRACKING -->
+    <!-- <include file="$(find butia_people_tracking)/launch/people_tracking.launch">
+        <arg name="machine" value="$(arg machine)" />
+    </include> -->
+
+    <node pkg="butia_image2world" type="image2world.py" output="$(arg output)" name="image2world_people_tracking_node" machine="$(arg machine)">
+        <!-- TO USE OLD TRACKING -->
+        <!-- <remap from="sub/recognitions2d"  to="/butia_vision/pt/people_tracking"/> -->
+        <remap from="sub/recognitions2d"  to="/butia_vision/pt/tracking2D"/>
+        <remap from="pub/recognitions3d"  to="/butia_vision/pt/people_tracking3d"/>
+        <remap from="pub/markers" to="/butia_vision/pt/markers"/>
+        <rosparam param="color">[0,255,0]</rosparam>
+        <rosparam param="n_neighbors_cluster_selection">30</rosparam>
+    </node>
+
+    <include file="$(find butia_recognition)/launch/yolov8_bag_recognition.launch">
+        <arg name="machine" value="$(arg machine)" />
+    </include>
+</launch>
\ No newline at end of file
diff --git a/butia_vision_launchfiles/yolo_tracker_recognition.launch b/butia_vision_launchfiles/yolo_tracker_recognition.launch
new file mode 100644
index 00000000..f3da9894
--- /dev/null
+++ b/butia_vision_launchfiles/yolo_tracker_recognition.launch
@@ -0,0 +1,43 @@
+<launch>
+    <arg name="machine" default="localhost"/>
+    <arg name="bvb_machine" default="$(arg machine)"/>
+    <arg name="br_machine" default="$(arg machine)"/>
+    <arg name="i2w_machine" default="$(arg machine)"/>
+    <arg name="use_machine" default="true"/>
+    <arg name="output" default="screen"/>
+    <arg name="use_bridge" default="false"/>
+    <arg name="use_image2world" default="true"/>
+    <arg name="publish_tf" default="true"/>
+    <arg name="config_file" default="yolo_tracker_recognition.yaml"/>
+    <arg name="node_name" default="yolo_tracker_recognition"/>
+    <arg name="camera" default="realsense"/>
+
+    <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
+
+    <include file="$(find butia_vision_bridge)/launch/butia_vision_bridge.launch">
+        <arg name="machine" value="$(arg bvb_machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="use_bridge" value="$(arg use_bridge)"/>
+        <arg name="publish_tf" value="$(arg publish_tf)"/>
+        <arg name="camera" value="$(arg camera)"/>
+    </include>
+
+    <include file="$(find butia_recognition)/launch/yolo_tracker_recognition.launch">
+        <arg name="machine" value="$(arg machine)" />
+        <arg name="use_machine" value="$(arg use_machine)"/>
+        <arg name="node_name" value="$(arg node_name)"/>
+        <arg name="output" value="$(arg output)"/>
+        <arg name="config_file" value="$(arg config_file)"/>
+    </include>
+
+    <node pkg="butia_image2world" type="image2world.py" name="image2world_detections" output="$(arg output)" if="$(arg use_image2world)" machine="$(arg machine)">
+        <remap from="sub/recognitions2d" to="/butia_vision/br/recognitions2D"/>
+        <remap from="pub/recognitions3d" to="/butia_vision/br/recognitions3D"/>
+    </node>
+
+    <node pkg="butia_image2world" type="image2world.py" name="image2world_tracking" output="$(arg output)" if="$(arg use_image2world)" machine="$(arg machine)">
+        <remap from="sub/recognitions2d" to="/butia_vision/pt/tracking2D"/>
+        <remap from="pub/recognitions3d" to="/butia_vision/pt/tracking3D"/>
+    </node>
+</launch>
\ No newline at end of file
diff --git a/butia_vision_msgs b/butia_vision_msgs
index 17810ba7..99bda273 160000
--- a/butia_vision_msgs
+++ b/butia_vision_msgs
@@ -1 +1 @@
-Subproject commit 17810ba7d8490cd47e345a12cd6b947f4d0c85d3
+Subproject commit 99bda273754c2b7cd8e4a9cad06ce3f0cb8ee9bb
diff --git a/deprecated/face_recognition/models/opencv/opencv_face_detector_uint8.pb b/deprecated/face_recognition/models/opencv/opencv_face_detector_uint8.pb
new file mode 100644
index 00000000..124bdd1a
Binary files /dev/null and b/deprecated/face_recognition/models/opencv/opencv_face_detector_uint8.pb differ
diff --git a/devel/.built_by b/devel/.built_by
new file mode 100644
index 00000000..2e212dd3
--- /dev/null
+++ b/devel/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/devel/.catkin b/devel/.catkin
new file mode 100644
index 00000000..3cc59412
--- /dev/null
+++ b/devel/.catkin
@@ -0,0 +1 @@
+/home/andremaurell/butia_ws/src/butia_vision/src
\ No newline at end of file
diff --git a/devel/.rosinstall b/devel/.rosinstall
new file mode 100644
index 00000000..de11dd29
--- /dev/null
+++ b/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/andremaurell/butia_ws/src/butia_vision/devel/setup.sh
diff --git a/devel/_setup_util.py b/devel/_setup_util.py
new file mode 100755
index 00000000..8335bd13
--- /dev/null
+++ b/devel/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/usr/local;/usr/local;/home/andremaurell/butia_ws/devel;/opt/ros/noetic;/usr/local;/usr/local;/usr/local;/usr/local'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/devel/cmake.lock b/devel/cmake.lock
new file mode 100644
index 00000000..e69de29b
diff --git a/devel/env.sh b/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/devel/local_setup.bash b/devel/local_setup.bash
new file mode 100644
index 00000000..7da0d973
--- /dev/null
+++ b/devel/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/devel/local_setup.sh b/devel/local_setup.sh
new file mode 100644
index 00000000..3a1db204
--- /dev/null
+++ b/devel/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/devel/local_setup.zsh b/devel/local_setup.zsh
new file mode 100644
index 00000000..e692accf
--- /dev/null
+++ b/devel/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/devel/setup.bash b/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/devel/setup.sh b/devel/setup.sh
new file mode 100644
index 00000000..b20bebf5
--- /dev/null
+++ b/devel/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/andremaurell/butia_ws/src/butia_vision/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/devel/setup.zsh b/devel/setup.zsh
new file mode 100644
index 00000000..9f780b74
--- /dev/null
+++ b/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 120000
index 00000000..20168168
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file