The programs included with the Debian GNU/Linux system are free software. The exact distribution terms for each program are described in the individual files in the filesystem (/usr/share/doc/∗/copyright). A complete list of licenses for all packages can be found in the file deb∗-license.txt within the recovery package.

The Source code for the Debian system is publicly available, see How to Download a source package. The binary packages can be provided on request.

The following packages are additionally installed by IMAGO:

Customized Linux kernel and bootloader "Das U-Boot", the source code can be found on the Release Notes page
Binary-only packages created by IMAGO are released under the 2-Clause BSD License:
imago-sdk, pru-firmware-visionsensor-pv, imago-snmpd-update, imago-avahi-update, vspv-init, fpga-visionsensor-pv3, gige-discovery-reply
The source code for the Coral TPU packages can be found here

Also take a look at Redistributing Debian GNU/Linux in a commercial product.