diff --git a/src/visualizer/full_matrix_visualizer.cpp b/src/visualizer/full_matrix_visualizer.cpp
index 86f61b6..1a99616 100644
--- a/src/visualizer/full_matrix_visualizer.cpp
+++ b/src/visualizer/full_matrix_visualizer.cpp
@@ -1,7 +1,25 @@
-/* Copyright Olga Vysotska, year 2017.
-** In case of any problems with the code please contact me.
-** Email: olga.vysotska@uni-bonn.de.
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #include "visualizer/full_matrix_visualizer.h"
 #include <opencv2/core/core.hpp>
diff --git a/src/visualizer/full_matrix_visualizer.h b/src/visualizer/full_matrix_visualizer.h
index de66df7..d6f6c7d 100644
--- a/src/visualizer/full_matrix_visualizer.h
+++ b/src/visualizer/full_matrix_visualizer.h
@@ -1,7 +1,25 @@
-/* Copyright Olga Vysotska, year 2017.
-** In case of any problems with the code please contact me.
-** Email: olga.vysotska@uni-bonn.de.
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #ifndef SRC_VISUALIZER_FULL_MATRIX_VISUALIZER_H_
 #define SRC_VISUALIZER_FULL_MATRIX_VISUALIZER_H_
diff --git a/src/visualizer/localization_viewer.cpp b/src/visualizer/localization_viewer.cpp
index af4a07f..6b4c1a2 100644
--- a/src/visualizer/localization_viewer.cpp
+++ b/src/visualizer/localization_viewer.cpp
@@ -1,7 +1,25 @@
-/*  Copyright Olga Vysotska, year 2017.
-**  In case of any problems with the code please contact me.
-**  Email: olga.vysotska@uni-bonn.de
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #include "visualizer/localization_viewer.h"
 
diff --git a/src/visualizer/localization_viewer.h b/src/visualizer/localization_viewer.h
index ef5a580..4166a7c 100644
--- a/src/visualizer/localization_viewer.h
+++ b/src/visualizer/localization_viewer.h
@@ -1,7 +1,25 @@
-/*  Copyright Olga Vysotska, year 2017.
-**  In case of any problems with the code please contact me.
-**  Email: olga.vysotska@uni-bonn.de
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #ifndef SRC_VISUALIZER_LOCALIZATION_VIEWER_H_
 #define SRC_VISUALIZER_LOCALIZATION_VIEWER_H_
diff --git a/src/visualizer/match_viewer.cpp b/src/visualizer/match_viewer.cpp
index af5bc17..ee23531 100644
--- a/src/visualizer/match_viewer.cpp
+++ b/src/visualizer/match_viewer.cpp
@@ -1,7 +1,25 @@
-/* Copyright Olga Vysotska, year 2017.
-** In case of any problems with the code please contact me.
-** Email: olga.vysotska@uni-bonn.de.
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #include "visualizer/match_viewer.h"
 
diff --git a/src/visualizer/match_viewer.h b/src/visualizer/match_viewer.h
index 1ed336e..e4d875a 100644
--- a/src/visualizer/match_viewer.h
+++ b/src/visualizer/match_viewer.h
@@ -1,7 +1,25 @@
-/* Copyright Olga Vysotska, year 2017.
-** In case of any problems with the code please contact me.
-** Email: olga.vysotska@uni-bonn.de.
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
 
 #ifndef SRC_VISUALIZER_MATCH_VIEWER_H_
 #define SRC_VISUALIZER_MATCH_VIEWER_H_
diff --git a/src/visualizer/visualizer.cpp b/src/visualizer/visualizer.cpp
index c175fa2..f0f111d 100644
--- a/src/visualizer/visualizer.cpp
+++ b/src/visualizer/visualizer.cpp
@@ -1,7 +1,26 @@
-/*  Copyright Olga Vysotska, year 2017.
-**  In case of any problems with the code please contact me.
-**  Email: olga.vysotska@uni-bonn.de
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
+
 #include "visualizer/visualizer.h"
 #include <QPoint>
 #include <QVBoxLayout>
@@ -73,7 +92,7 @@ bool Visualizer::setMatchViewer(MatchViewer *matchViewer) {
 }
 
 Visualizer::~Visualizer() {
-  delete _mainLayout; 
+  delete _mainLayout;
 }
 
 void Visualizer::drawPath(const std::vector<PathElement> &path) {
diff --git a/src/visualizer/visualizer.h b/src/visualizer/visualizer.h
index 52dc6ef..0d668bc 100644
--- a/src/visualizer/visualizer.h
+++ b/src/visualizer/visualizer.h
@@ -1,7 +1,27 @@
-/*  Copyright Olga Vysotska, year 2017.
-**  In case of any problems with the code please contact me.
-**  Email: olga.vysotska@uni-bonn.de
-*/
+/** vpr_relocalization: a library for visual place recognition in changing 
+** environments with efficient relocalization step.
+** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
+**
+** Permission is hereby granted, free of charge, to any person obtaining a copy
+** of this software and associated documentation files (the "Software"), to deal
+** in the Software without restriction, including without limitation the rights
+** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+** copies of the Software, and to permit persons to whom the Software is
+** furnished to do so, subject to the following conditions:
+**
+** The above copyright notice and this permission notice shall be included in
+** all copies or substantial portions of the Software.
+**
+** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+** OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+** SOFTWARE.
+**/
+
+
 #ifndef SRC_VISUALIZER_VISUALIZER_H_
 #define SRC_VISUALIZER_VISUALIZER_H_