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is it allowed to use opencv track/multitrack in commercial software?

Is opencv tracking like:

http://docs.opencv.org/3.1.0/d2/d0a/tutorial_introduction_to_tracker.html#gsc.tab=0

or http://docs.opencv.org/3.1.0/d5/d07/tutorial_multitracker.html#gsc.tab=0

based on TLD? In which case, am i allowed to use it (as i understoood TLD was copyrighted/patented) ?