Updated Copyright year and About dialog summary

2026-09-02 01:20:25 +08:00 · 2016-07-17 21:57:10 -04:00
parent be61eefdf9
commit ca6cd19fb1
191 changed files with 265 additions and 205 deletions
--- a/corelib/include/rtabmap/core/BayesFilter.h
+++ b/corelib/include/rtabmap/core/BayesFilter.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Camera.h
+++ b/corelib/include/rtabmap/core/Camera.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraEvent.h
+++ b/corelib/include/rtabmap/core/CameraEvent.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraInfo.h
+++ b/corelib/include/rtabmap/core/CameraInfo.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraModel.h
+++ b/corelib/include/rtabmap/core/CameraModel.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraRGB.h
+++ b/corelib/include/rtabmap/core/CameraRGB.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraRGBD.h
+++ b/corelib/include/rtabmap/core/CameraRGBD.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraStereo.h
+++ b/corelib/include/rtabmap/core/CameraStereo.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/CameraThread.h
+++ b/corelib/include/rtabmap/core/CameraThread.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Compression.h
+++ b/corelib/include/rtabmap/core/Compression.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/DBDriver.h
+++ b/corelib/include/rtabmap/core/DBDriver.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/DBReader.h
+++ b/corelib/include/rtabmap/core/DBReader.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/EpipolarGeometry.h
+++ b/corelib/include/rtabmap/core/EpipolarGeometry.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Features2d.h
+++ b/corelib/include/rtabmap/core/Features2d.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Graph.h
+++ b/corelib/include/rtabmap/core/Graph.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Image.h
+++ b/corelib/include/rtabmap/core/Image.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Link.h
+++ b/corelib/include/rtabmap/core/Link.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Memory.h
+++ b/corelib/include/rtabmap/core/Memory.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OctoMap.h
+++ b/corelib/include/rtabmap/core/OctoMap.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Odometry.h
+++ b/corelib/include/rtabmap/core/Odometry.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryEvent.h
+++ b/corelib/include/rtabmap/core/OdometryEvent.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryF2F.h
+++ b/corelib/include/rtabmap/core/OdometryF2F.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryF2M.h
+++ b/corelib/include/rtabmap/core/OdometryF2M.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryInfo.h
+++ b/corelib/include/rtabmap/core/OdometryInfo.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryMono.h
+++ b/corelib/include/rtabmap/core/OdometryMono.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OdometryThread.h
+++ b/corelib/include/rtabmap/core/OdometryThread.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Optimizer.h
+++ b/corelib/include/rtabmap/core/Optimizer.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OptimizerCVSBA.h
+++ b/corelib/include/rtabmap/core/OptimizerCVSBA.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OptimizerG2O.h
+++ b/corelib/include/rtabmap/core/OptimizerG2O.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OptimizerGTSAM.h
+++ b/corelib/include/rtabmap/core/OptimizerGTSAM.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/OptimizerTORO.h
+++ b/corelib/include/rtabmap/core/OptimizerTORO.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/ParamEvent.h
+++ b/corelib/include/rtabmap/core/ParamEvent.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/ParticleFilter.h
+++ b/corelib/include/rtabmap/core/ParticleFilter.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2015, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Registration.h
+++ b/corelib/include/rtabmap/core/Registration.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/RegistrationIcp.h
+++ b/corelib/include/rtabmap/core/RegistrationIcp.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/RegistrationInfo.h
+++ b/corelib/include/rtabmap/core/RegistrationInfo.h
@@ -1,9 +1,29 @@
 /*
- * RegistrationInfo.h
- *
- *  Created on: Jan 5, 2016
- *      Author: mathieu
- */
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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 the Universite de Sherbrooke 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 HOLDER 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.
+*/

 #ifndef REGISTRATIONINFO_H_
 #define REGISTRATIONINFO_H_
--- a/corelib/include/rtabmap/core/RegistrationVis.h
+++ b/corelib/include/rtabmap/core/RegistrationVis.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Rtabmap.h
+++ b/corelib/include/rtabmap/core/Rtabmap.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/RtabmapEvent.h
+++ b/corelib/include/rtabmap/core/RtabmapEvent.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/RtabmapExp.h
+++ b/corelib/include/rtabmap/core/RtabmapExp.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/RtabmapThread.h
+++ b/corelib/include/rtabmap/core/RtabmapThread.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/SensorData.h
+++ b/corelib/include/rtabmap/core/SensorData.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Signature.h
+++ b/corelib/include/rtabmap/core/Signature.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Statistics.h
+++ b/corelib/include/rtabmap/core/Statistics.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Stereo.h
+++ b/corelib/include/rtabmap/core/Stereo.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/StereoCameraModel.h
+++ b/corelib/include/rtabmap/core/StereoCameraModel.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/StereoDense.h
+++ b/corelib/include/rtabmap/core/StereoDense.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/Transform.h
+++ b/corelib/include/rtabmap/core/Transform.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/UserDataEvent.h
+++ b/corelib/include/rtabmap/core/UserDataEvent.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/VWDictionary.h
+++ b/corelib/include/rtabmap/core/VWDictionary.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/VisualWord.h
+++ b/corelib/include/rtabmap/core/VisualWord.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/impl/util3d_mapping.hpp
+++ b/corelib/include/rtabmap/core/impl/util3d_mapping.hpp
@@ -1,9 +1,29 @@
 /*
- * util3d_mapping.hpp
- *
- *  Created on: 2015-05-13
- *      Author: mathieu
- */
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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 the Universite de Sherbrooke 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 HOLDER 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.
+*/

 #ifndef UTIL3D_MAPPING_HPP_
 #define UTIL3D_MAPPING_HPP_
--- a/corelib/include/rtabmap/core/util2d.h
+++ b/corelib/include/rtabmap/core/util2d.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d.h
+++ b/corelib/include/rtabmap/core/util3d.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_correspondences.h
+++ b/corelib/include/rtabmap/core/util3d_correspondences.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_features.h
+++ b/corelib/include/rtabmap/core/util3d_features.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_filtering.h
+++ b/corelib/include/rtabmap/core/util3d_filtering.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_mapping.h
+++ b/corelib/include/rtabmap/core/util3d_mapping.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_motion_estimation.h
+++ b/corelib/include/rtabmap/core/util3d_motion_estimation.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_registration.h
+++ b/corelib/include/rtabmap/core/util3d_registration.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_surface.h
+++ b/corelib/include/rtabmap/core/util3d_surface.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/corelib/include/rtabmap/core/util3d_transforms.h
+++ b/corelib/include/rtabmap/core/util3d_transforms.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.

 Redistribution and use in source and binary forms, with or without