calib3d module in opencv is split into 3 modules: 3d, calib and stereo.

stereo module in opencv_contrib is renamed to xstereo

samples/cpp/3calibration.cpp

@@ -2,7 +2,9 @@
  * 3calibration.cpp -- Calibrate 3 cameras in a horizontal line together.
  */
 
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/stereo.hpp"
+#include "opencv2/calib.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"

samples/cpp/CMakeLists.txt

@@ -12,7 +12,9 @@ set(OPENCV_CPP_SAMPLES_REQUIRED_DEPS
   opencv_objdetect
   opencv_photo
   opencv_features2d
-  opencv_calib3d
+  opencv_3d
+  opencv_stereo
+  opencv_calib
   opencv_stitching
   opencv_dnn
   ${OPENCV_MODULES_PUBLIC}

samples/cpp/asift.cpp

@@ -2,7 +2,7 @@
 #include <opencv2/imgproc.hpp>
 #include <opencv2/features2d.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
 #include <iostream>
 #include <iomanip>
 

samples/cpp/calibration.cpp

@@ -1,7 +1,8 @@
 #include "opencv2/core.hpp"
 #include <opencv2/core/utility.hpp>
 #include "opencv2/imgproc.hpp"
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/videoio.hpp"
 #include "opencv2/highgui.hpp"

samples/cpp/epipolar_lines.cpp

@@ -2,7 +2,8 @@
 // It is subject to the license terms in the LICENSE file found in the top-level directory
 // of this distribution and at http://opencv.org/license.html
 
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/features2d.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 

samples/cpp/essential_mat_reconstr.cpp

@@ -2,7 +2,8 @@
 // It is subject to the license terms in the LICENSE file found in the top-level directory
 // of this distribution and at http://opencv.org/license.html
 
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/features2d.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 

samples/cpp/select3dobj.cpp

@@ -11,7 +11,8 @@
 #include "opencv2/core.hpp"
 #include <opencv2/core/utility.hpp>
 #include "opencv2/imgproc.hpp"
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/videoio.hpp"
 #include "opencv2/highgui.hpp"

samples/cpp/stereo_calib.cpp

@@ -21,7 +21,9 @@
      GitHub:        https://github.com/opencv/opencv/
    ************************************************** */
 
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/stereo.hpp"
+#include "opencv2/calib.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"

samples/cpp/stereo_match.cpp

@@ -6,8 +6,8 @@
  *  Copyright 2010 Argus Corp. All rights reserved.
  *
  */
-
-#include "opencv2/calib3d/calib3d.hpp"
+#include "opencv2/3d.hpp"
+#include "opencv2/stereo.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/imgcodecs.hpp"
 #include "opencv2/highgui.hpp"
@@ -196,7 +196,7 @@ int main(int argc, char** argv)
         fs["R"] >> R;
         fs["T"] >> T;
 
-        stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2 );
+        stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, STEREO_ZERO_DISPARITY, -1, img_size, &roi1, &roi2 );
 
         Mat map11, map12, map21, map22;
         initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);

samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp

@@ -7,7 +7,8 @@
 #include <opencv2/core.hpp>
 #include <opencv2/core/utility.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
+#include <opencv2/calib.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/videoio.hpp>
 #include <opencv2/highgui.hpp>

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp

@@ -11,7 +11,7 @@
 #include "PnPProblem.h"
 #include "Mesh.h"
 
-#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/3d.hpp>
 
 /* Functions for Möller-Trumbore intersection algorithm */
 static cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

@@ -13,7 +13,7 @@
 
 #include <opencv2/opencv_modules.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
 #include <opencv2/flann.hpp>
 #if defined (HAVE_OPENCV_XFEATURES2D)
 #include <opencv2/xfeatures2d.hpp>
@@ -182,7 +182,7 @@ double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
 {
     cv::Mat error_vec, error_mat;
     error_mat = -R_true * R.t();
-    cv::Rodrigues(error_mat, error_vec);
+    Rodrigues(error_mat, error_vec);
 
     return cv::norm(error_vec);
 }

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp

@@ -5,7 +5,7 @@
 #include <opencv2/core/utils/filesystem.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
 #include <opencv2/video/tracking.hpp>
 // PnP Tutorial
 #include "Mesh.h"

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

@@ -3,7 +3,7 @@
 // OpenCV
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
 #include <opencv2/features2d.hpp>
 // PnP Tutorial
 #include "Mesh.h"

samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp

@@ -1,7 +1,7 @@
 #include <opencv2/features2d.hpp>
 #include <opencv2/videoio.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
 #include <opencv2/highgui.hpp>      //for imshow
 #include <vector>
 #include <iostream>

samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp

@@ -1,7 +1,8 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
+#include <opencv2/calib.hpp>
 
 using namespace std;
 using namespace cv;

samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp

@@ -2,7 +2,8 @@
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/highgui.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
+#include <opencv2/calib.hpp>
 
 using namespace std;
 using namespace cv;

samples/cpp/tutorial_code/features2D/Homography/perspective_correction.cpp

@@ -1,7 +1,8 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
+#include <opencv2/calib.hpp>
 #include <opencv2/highgui.hpp>
 
 using namespace std;

samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp

@@ -1,7 +1,8 @@
 #include <iostream>
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
+#include <opencv2/3d.hpp>
+#include <opencv2/calib.hpp>
 #include <opencv2/highgui.hpp>
 
 using namespace std;

samples/cpp/tutorial_code/features2D/feature_homography/SURF_FLANN_matching_homography_Demo.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 #include "opencv2/core.hpp"
 #ifdef HAVE_OPENCV_XFEATURES2D
-#include "opencv2/calib3d.hpp"
+#include "opencv2/3d.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/features2d.hpp"