GPU MatchTemplate32F test epsilon increased.

fix OpenCVConfig.cmake template - missing parentheses
(cherry picked from commit 67b562d543)
2026-07-25 13:23:02 +04:00 · 2014-09-02 20:24:49 +04:00 · 2014-09-02 19:30:35 +04:00 · 2014-09-02 19:29:59 +04:00 · 2014-09-02 16:48:20 +04:00 · 2014-09-02 15:05:13 +04:00
363 changed files with 22373 additions and 3321 deletions
@@ -0,0 +1,2 @@
+[tgit]
+    icon = doc/opencv.ico
@@ -54,7 +54,7 @@

 /* Native cpu byte order: 1 if big-endian (Motorola) or 0 if little-endian
   (Intel) */
-#define HOST_BIGENDIAN 0
+#define HOST_BIGENDIAN @WORDS_BIGENDIAN@

 /* Set the native cpu bit order (FILLORDER_LSB2MSB or FILLORDER_MSB2LSB) */
 #define HOST_FILLORDER FILLORDER_LSB2MSB
@@ -156,15 +156,7 @@

 /* Define WORDS_BIGENDIAN to 1 if your processor stores words with the most
   significant byte first (like Motorola and SPARC, unlike Intel). */
-#if defined AC_APPLE_UNIVERSAL_BUILD
-# if defined __BIG_ENDIAN__
-#  define WORDS_BIGENDIAN 1
-# endif
-#else
-# ifndef WORDS_BIGENDIAN
-/* #  undef WORDS_BIGENDIAN */
-# endif
-#endif
+#cmakedefine WORDS_BIGENDIAN 1

 /* Support Deflate compression */
 #define ZIP_SUPPORT 1
@@ -128,6 +128,7 @@ OCV_OPTION(WITH_1394           "Include IEEE1394 support"                    ON
 OCV_OPTION(WITH_AVFOUNDATION   "Use AVFoundation for Video I/O"              ON   IF IOS)
 OCV_OPTION(WITH_CARBON         "Use Carbon for UI instead of Cocoa"          OFF  IF APPLE )
 OCV_OPTION(WITH_CUDA           "Include NVidia Cuda Runtime support"         ON   IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
+OCV_OPTION(WITH_VTK            "Include VTK library support (and build opencv_viz module eiher)"             OFF IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_CUFFT          "Include NVidia Cuda Fast Fourier Transform (FFT) library support"            ON  IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_CUBLAS         "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_NVCUVID        "Include NVidia Video Decoding library support"                               OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT ANDROID AND NOT IOS AND NOT APPLE) )
@@ -141,7 +142,7 @@ OCV_OPTION(WITH_IPP            "Include Intel IPP support"                   OFF
 OCV_OPTION(WITH_JASPER         "Include JPEG2K support"                      ON   IF (NOT IOS) )
 OCV_OPTION(WITH_JPEG           "Include JPEG support"                        ON)
 OCV_OPTION(WITH_OPENEXR        "Include ILM support via OpenEXR"             ON   IF (NOT IOS) )
-OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID AND NOT APPLE) )
+OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID) )
 OCV_OPTION(WITH_OPENNI         "Include OpenNI support"                      OFF  IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_PNG            "Include PNG support"                         ON)
 OCV_OPTION(WITH_PVAPI          "Include Prosilica GigE support"              ON   IF (NOT ANDROID AND NOT IOS) )
@@ -205,6 +206,7 @@ OCV_OPTION(ENABLE_DYNAMIC_CUDA        "Enabled dynamic CUDA linkage"
 OCV_OPTION(ENABLE_PRECOMPILED_HEADERS "Use precompiled headers"                                  ON   IF (NOT IOS) )
 OCV_OPTION(ENABLE_SOLUTION_FOLDERS    "Solution folder in Visual Studio or in other IDEs"        (MSVC_IDE OR CMAKE_GENERATOR MATCHES Xcode) IF (CMAKE_VERSION VERSION_GREATER "2.8.0") )
 OCV_OPTION(ENABLE_PROFILING           "Enable profiling in the GCC compiler (Add flags: -g -pg)" OFF  IF CMAKE_COMPILER_IS_GNUCXX )
+OCV_OPTION(ENABLE_COVERAGE            "Enable coverage collection with  GCov"                    OFF  IF CMAKE_COMPILER_IS_GNUCXX )
 OCV_OPTION(ENABLE_OMIT_FRAME_POINTER  "Enable -fomit-frame-pointer for GCC"                      ON   IF CMAKE_COMPILER_IS_GNUCXX AND NOT (APPLE AND CMAKE_COMPILER_IS_CLANGCXX) )
 OCV_OPTION(ENABLE_POWERPC             "Enable PowerPC for GCC"                                   ON   IF (CMAKE_COMPILER_IS_GNUCXX AND CMAKE_SYSTEM_PROCESSOR MATCHES powerpc.*) )
 OCV_OPTION(ENABLE_FAST_MATH           "Enable -ffast-math (not recommended for GCC 4.6.x)"       OFF  IF (CMAKE_COMPILER_IS_GNUCXX AND (X86 OR X86_64)) )
@@ -268,13 +270,24 @@ if(WIN32)
    message(STATUS "Can't detect runtime and/or arch")
    set(OpenCV_INSTALL_BINARIES_PREFIX "")
  endif()
+elseif(ANDROID)
+  set(OpenCV_INSTALL_BINARIES_PREFIX "sdk/native/")
 else()
  set(OpenCV_INSTALL_BINARIES_PREFIX "")
 endif()

-set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples")
+if(ANDROID)
+  set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples/${ANDROID_NDK_ABI_NAME}")
+else()
+  set(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}samples")
+endif()
+
+if(ANDROID)
+  set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin/${ANDROID_NDK_ABI_NAME}")
+else()
+  set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin")
+endif()

-set(OPENCV_BIN_INSTALL_PATH "${OpenCV_INSTALL_BINARIES_PREFIX}bin")
 if(NOT OPENCV_TEST_INSTALL_PATH)
  set(OPENCV_TEST_INSTALL_PATH "${OPENCV_BIN_INSTALL_PATH}")
 endif()
@@ -432,6 +445,19 @@ endif()
 include(cmake/OpenCVPCHSupport.cmake)
 include(cmake/OpenCVModule.cmake)

+# ----------------------------------------------------------------------------
+#  Detect endianness of build platform
+# ----------------------------------------------------------------------------
+
+if(CMAKE_SYSTEM_NAME STREQUAL iOS)
+  # test_big_endian needs try_compile, which doesn't work for iOS
+  # http://public.kitware.com/Bug/view.php?id=12288
+  set(WORDS_BIGENDIAN 0)
+else()
+  include(TestBigEndian)
+  test_big_endian(WORDS_BIGENDIAN)
+endif()
+
 # ----------------------------------------------------------------------------
 #  Detect 3rd-party libraries
 # ----------------------------------------------------------------------------
@@ -441,7 +467,6 @@ include(cmake/OpenCVFindLibsGUI.cmake)
 include(cmake/OpenCVFindLibsVideo.cmake)
 include(cmake/OpenCVFindLibsPerf.cmake)

-
 # ----------------------------------------------------------------------------
 #  Detect other 3rd-party libraries/tools
 # ----------------------------------------------------------------------------
@@ -477,6 +502,9 @@ if(WITH_OPENCL)
  include(cmake/OpenCVDetectOpenCL.cmake)
 endif()

+# --- VTK support ---
+include(cmake/OpenCVDetectVTK.cmake)
+
 # ----------------------------------------------------------------------------
 # Add CUDA libraries (needed for apps/tools, samples)
 # ----------------------------------------------------------------------------
@@ -565,16 +593,46 @@ include(cmake/OpenCVGenConfig.cmake)
 include(cmake/OpenCVGenInfoPlist.cmake)

 # Generate environment setup file
-if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH AND UNIX AND NOT ANDROID)
-  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_testing.sh.in"
-                 "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh" @ONLY)
-  install(FILES "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh"
-          DESTINATION /etc/profile.d/ COMPONENT tests)
-  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests.sh.in"
-                 "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh" @ONLY)
-  install(FILES "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh"
-          PERMISSIONS OWNER_READ OWNER_WRITE GROUP_READ WORLD_READ OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE
-          DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH AND UNIX)
+  if(ANDROID)
+    get_filename_component(TEST_PATH ${OPENCV_TEST_INSTALL_PATH} DIRECTORY)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests_android.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh" @ONLY)
+    install(PROGRAMS "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh"
+            DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT tests)
+  else()
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_testing.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh" @ONLY)
+    install(FILES "${CMAKE_BINARY_DIR}/unix-install/opencv_testing.sh"
+            DESTINATION /etc/profile.d/ COMPONENT tests)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests_unix.sh.in"
+                   "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh" @ONLY)
+    install(PROGRAMS "${CMAKE_BINARY_DIR}/unix-install/opencv_run_all_tests.sh"
+            DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+
+  endif()
+endif()
+
+if(NOT OPENCV_README_FILE)
+  if(ANDROID)
+    set(OPENCV_README_FILE ${CMAKE_CURRENT_SOURCE_DIR}/platforms/android/README.android)
+  endif()
+endif()
+
+if(NOT OPENCV_LICENSE_FILE)
+  set(OPENCV_LICENSE_FILE ${CMAKE_CURRENT_SOURCE_DIR}/LICENSE)
+endif()
+
+# for UNIX it does not make sense as LICENSE and readme will be part of the package automatically
+if(ANDROID OR NOT UNIX)
+  install(FILES ${OPENCV_LICENSE_FILE}
+        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+        DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+  if(OPENCV_README_FILE)
+    install(FILES ${OPENCV_README_FILE}
+            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
+            DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+  endif()
 endif()

 # ----------------------------------------------------------------------------
@@ -724,6 +782,7 @@ else()
 endif()

 status("    OpenGL support:" HAVE_OPENGL THEN "YES (${OPENGL_LIBRARIES})" ELSE NO)
+status("    VTK support:" HAVE_VTK THEN "YES (ver ${VTK_VERSION})" ELSE NO)

 # ========================== MEDIA IO ==========================
 status("")
@@ -1,5 +1,7 @@
 ### OpenCV: Open Source Computer Vision Library

+[![Gittip](http://img.shields.io/gittip/OpenCV.png)](https://www.gittip.com/OpenCV/)
+
 #### Resources

 * Homepage: <http://opencv.org>
@@ -18,6 +20,3 @@ Summary of guidelines:
 * Include tests and documentation;
 * Clean up "oops" commits before submitting;
 * Follow the coding style guide.
-
-[![Donate OpenCV project](http://opencv.org/wp-content/uploads/2013/07/gittip1.png)](https://www.gittip.com/OpenCV/)
-[![Donate OpenCV project](http://opencv.org/wp-content/uploads/2013/07/paypal-donate-button.png)](https://www.paypal.com/cgi-bin/webscr?item_name=Donation+to+OpenCV&cmd=_donations&business=accountant%40opencv.org)
@@ -187,6 +187,11 @@ if(CMAKE_COMPILER_IS_GNUCXX)
    add_extra_compiler_option(-ffunction-sections)
  endif()

+  if(ENABLE_COVERAGE)
+    set(OPENCV_EXTRA_C_FLAGS "${OPENCV_EXTRA_C_FLAGS} --coverage")
+    set(OPENCV_EXTRA_CXX_FLAGS "${OPENCV_EXTRA_CXX_FLAGS} --coverage")
+  endif()
+
  set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} -DNDEBUG")
  set(OPENCV_EXTRA_FLAGS_DEBUG "${OPENCV_EXTRA_FLAGS_DEBUG} -O0 -DDEBUG -D_DEBUG")
 endif()
@@ -180,7 +180,7 @@ unset(__android_project_chain CACHE)
 # add_android_project(target_name ${path} NATIVE_DEPS opencv_core LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11)
 macro(add_android_project target path)
  # parse arguments
-  set(android_proj_arglist NATIVE_DEPS LIBRARY_DEPS SDK_TARGET IGNORE_JAVA IGNORE_MANIFEST)
+  set(android_proj_arglist NATIVE_DEPS LIBRARY_DEPS SDK_TARGET IGNORE_JAVA IGNORE_MANIFEST EMBED_CUDA FORCE_EMBED_OPENCV)
  set(__varname "android_proj_")
  foreach(v ${android_proj_arglist})
    set(${__varname}${v} "")
@@ -303,6 +303,46 @@ macro(add_android_project target path)
            add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${android_proj_jni_location}")
        endif()
      endif()
+
+      # copy opencv_java, tbb if it is shared and dynamicuda if present if FORCE_EMBED_OPENCV flag is set
+      if(android_proj_FORCE_EMBED_OPENCV)
+        set(native_deps ${android_proj_NATIVE_DEPS})
+        # filter out gpu module as it is always static library on Android
+        list(REMOVE_ITEM native_deps "opencv_gpu")
+        if(ENABLE_DYNAMIC_CUDA)
+          list(APPEND native_deps "opencv_dynamicuda")
+        endif()
+        foreach(lib ${native_deps})
+          get_property(f TARGET ${lib} PROPERTY LOCATION)
+          get_filename_component(f_name ${f} NAME)
+          add_custom_command(
+            OUTPUT "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}"
+            COMMAND ${CMAKE_COMMAND} -E copy "${f}" "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}"
+            DEPENDS "${lib}" VERBATIM
+            COMMENT "Embedding ${f}")
+            list(APPEND android_proj_file_deps "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f_name}")
+        endforeach()
+      endif()
+
+      # copy all needed CUDA libs to project if EMBED_CUDA flag is present
+      if(android_proj_EMBED_CUDA)
+        set(android_proj_culibs ${CUDA_npp_LIBRARY_ABS} ${CUDA_LIBRARIES_ABS})
+        if(HAVE_CUFFT)
+          list(INSERT android_proj_culibs 0 ${CUDA_cufft_LIBRARY_ABS})
+        endif()
+        if(HAVE_CUBLAS)
+          list(INSERT android_proj_culibs 0 ${CUDA_cublas_LIBRARY_ABS})
+        endif()
+        foreach(lib ${android_proj_culibs})
+          get_filename_component(f "${lib}" NAME)
+          add_custom_command(
+            OUTPUT "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}"
+            COMMAND ${CMAKE_COMMAND} -E copy "${lib}" "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}"
+            DEPENDS "${lib}" VERBATIM
+            COMMENT "Embedding ${f}")
+          list(APPEND android_proj_file_deps "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}/${f}")
+        endforeach()
+      endif()
    endif()

    # build java part
@@ -365,7 +405,7 @@ macro(add_android_project target path)
      endif()
      install(CODE "EXECUTE_PROCESS(COMMAND ${ANDROID_EXECUTABLE} --silent update project --path . --target \"${android_proj_sdk_target}\" --name \"${target}\" ${inst_lib_opt}
                                    WORKING_DIRECTORY \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/samples/${sample_dir}\"
-                                   )"  COMPONENT dev)
+                                   )"  COMPONENT samples)
      #empty 'gen'
      install(CODE "MAKE_DIRECTORY(\"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/samples/${sample_dir}/gen\")" COMPONENT samples)
    endif()
@@ -180,6 +180,9 @@ if(CUDA_FOUND)
      # we remove -Wsign-promo as it generates warnings under linux
      string(REPLACE "-Wsign-promo" "" ${var} "${${var}}")

+      # we remove -Wno-sign-promo as it generates warnings under linux
+      string(REPLACE "-Wno-sign-promo" "" ${var} "${${var}}")
+
      # we remove -Wno-delete-non-virtual-dtor because it's used for C++ compiler
      # but NVCC uses C compiler by default
      string(REPLACE "-Wno-delete-non-virtual-dtor" "" ${var} "${${var}}")
@@ -216,3 +219,42 @@ else()
  unset(CUDA_ARCH_BIN CACHE)
  unset(CUDA_ARCH_PTX CACHE)
 endif()
+
+if(HAVE_CUDA)
+  set(CUDA_LIBS_PATH "")
+  foreach(p ${CUDA_LIBRARIES} ${CUDA_npp_LIBRARY})
+    get_filename_component(_tmp ${p} PATH)
+    list(APPEND CUDA_LIBS_PATH ${_tmp})
+  endforeach()
+
+  if(HAVE_CUBLAS)
+    foreach(p ${CUDA_cublas_LIBRARY})
+      get_filename_component(_tmp ${p} PATH)
+      list(APPEND CUDA_LIBS_PATH ${_tmp})
+    endforeach()
+  endif()
+
+  if(HAVE_CUFFT)
+    foreach(p ${CUDA_cufft_LIBRARY})
+      get_filename_component(_tmp ${p} PATH)
+      list(APPEND CUDA_LIBS_PATH ${_tmp})
+    endforeach()
+  endif()
+
+  list(REMOVE_DUPLICATES CUDA_LIBS_PATH)
+  link_directories(${CUDA_LIBS_PATH})
+
+  set(CUDA_LIBRARIES_ABS ${CUDA_LIBRARIES})
+  ocv_convert_to_lib_name(CUDA_LIBRARIES ${CUDA_LIBRARIES})
+  set(CUDA_npp_LIBRARY_ABS ${CUDA_npp_LIBRARY})
+  ocv_convert_to_lib_name(CUDA_npp_LIBRARY ${CUDA_npp_LIBRARY})
+  if(HAVE_CUBLAS)
+    set(CUDA_cublas_LIBRARY_ABS ${CUDA_cublas_LIBRARY})
+    ocv_convert_to_lib_name(CUDA_cublas_LIBRARY ${CUDA_cublas_LIBRARY})
+  endif()
+
+  if(HAVE_CUFFT)
+    set(CUDA_cufft_LIBRARY_ABS ${CUDA_cufft_LIBRARY})
+    ocv_convert_to_lib_name(CUDA_cufft_LIBRARY ${CUDA_cufft_LIBRARY})
+  endif()
+endif()
@@ -0,0 +1,53 @@
+if(NOT WITH_VTK OR ANDROID OR IOS)
+  return()
+endif()
+
+# VTK 6.x components
+find_package(VTK QUIET COMPONENTS vtkRenderingOpenGL vtkInteractionStyle vtkRenderingLOD vtkIOPLY vtkFiltersTexture vtkRenderingFreeType vtkIOExport NO_MODULE)
+
+# VTK 5.x components
+if(NOT VTK_FOUND)
+  find_package(VTK QUIET COMPONENTS vtkCommon NO_MODULE)
+endif()
+
+if(NOT VTK_FOUND)
+  set(HAVE_VTK OFF)
+  message(STATUS "VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or to VTK install subdirectory with VTKConfig.cmake file")
+  return()
+endif()
+
+# Don't support ealier VTKs
+if(${VTK_VERSION} VERSION_LESS "5.8.0")
+  message(STATUS "VTK support is disabled. VTK ver. 5.8.0 is minimum required, but found VTK ver. ${VTK_VERSION}")
+  return()
+endif()
+
+# Different Qt versions can't be linked together
+if(HAVE_QT5 AND ${VTK_VERSION} VERSION_LESS "6.0.0")
+  if(VTK_USE_QT)
+    message(STATUS "VTK support is disabled. Incompatible combination: OpenCV + Qt5 and VTK ver.${VTK_VERSION} + Qt4")
+  endif()
+endif()
+
+# Different Qt versions can't be linked together. VTK 6.0.0 doesn't provide a way to get Qt version it was linked with
+if(HAVE_QT5 AND ${VTK_VERSION} VERSION_EQUAL "6.0.0" AND NOT DEFINED FORCE_VTK)
+  message(STATUS "VTK support is disabled. Possible incompatible combination: OpenCV+Qt5, and VTK ver.${VTK_VERSION} with Qt4")
+  message(STATUS "If it is known that VTK was compiled without Qt4, please define '-DFORCE_VTK=TRUE' flag in CMake")
+  return()
+endif()
+
+# Different Qt versions can't be linked together
+if(HAVE_QT AND ${VTK_VERSION} VERSION_GREATER "6.0.0" AND NOT ${VTK_QT_VERSION} STREQUAL "")
+  if(HAVE_QT5 AND ${VTK_QT_VERSION} EQUAL "4")
+    message(STATUS "VTK support is disabled. Incompatible combination: OpenCV + Qt5 and VTK ver.${VTK_VERSION} + Qt4")
+    return()
+  endif()
+
+  if(NOT HAVE_QT5 AND ${VTK_QT_VERSION} EQUAL "5")
+    message(STATUS "VTK support is disabled. Incompatible combination: OpenCV + Qt4 and VTK ver.${VTK_VERSION} + Qt5")
+    return()
+  endif()
+endif()
+
+set(HAVE_VTK ON)
+message(STATUS "Found VTK ver. ${VTK_VERSION} (usefile: ${VTK_USE_FILE})")
@@ -163,9 +163,16 @@ function(set_ipp_new_libraries _LATEST_VERSION)
        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCV}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPI}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPS}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
-        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCORE}${IPP_SUFFIX}${IPP_LIB_SUFFIX}
-        PARENT_SCOPE)
+        ${IPP_LIB_PREFIX}${IPP_PREFIX}${IPPCORE}${IPP_SUFFIX}${IPP_LIB_SUFFIX})

+    if (UNIX)
+        set(IPP_LIBRARIES
+            ${IPP_LIBRARIES}
+            ${IPP_LIB_PREFIX}irc${CMAKE_SHARED_LIBRARY_SUFFIX}
+            ${IPP_LIB_PREFIX}imf${CMAKE_SHARED_LIBRARY_SUFFIX}
+            ${IPP_LIB_PREFIX}svml${CMAKE_SHARED_LIBRARY_SUFFIX})
+    endif()
+    set(IPP_LIBRARIES ${IPP_LIBRARIES} PARENT_SCOPE)
    return()

 endfunction()
@@ -208,19 +215,39 @@ function(set_ipp_variables _LATEST_VERSION)
        set(IPP_INCLUDE_DIRS ${IPP_ROOT_DIR}/include PARENT_SCOPE)

        if (APPLE)
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib)
        elseif (IPP_X64)
            if(NOT EXISTS ${IPP_ROOT_DIR}/lib/intel64)
                message(SEND_ERROR "IPP EM64T libraries not found")
            endif()
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/intel64 PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/intel64)
        else()
            if(NOT EXISTS ${IPP_ROOT_DIR}/lib/ia32)
                message(SEND_ERROR "IPP IA32 libraries not found")
            endif()
-            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/ia32 PARENT_SCOPE)
+            set(IPP_LIBRARY_DIRS ${IPP_ROOT_DIR}/lib/ia32)
        endif()

+        if (UNIX)
+            get_filename_component(INTEL_COMPILER_LIBRARY_DIR ${IPP_ROOT_DIR}/../lib REALPATH)
+            if (IPP_X64)
+                if(NOT EXISTS ${INTEL_COMPILER_LIBRARY_DIR}/intel64)
+                    message(SEND_ERROR "Intel compiler EM64T libraries not found")
+                endif()
+                set(IPP_LIBRARY_DIRS
+                    ${IPP_LIBRARY_DIRS}
+                    ${INTEL_COMPILER_LIBRARY_DIR}/intel64)
+            else()
+                if(NOT EXISTS ${INTEL_COMPILER_LIBRARY_DIR}/ia32)
+                    message(SEND_ERROR "Intel compiler IA32 libraries not found")
+                endif()
+                set(IPP_LIBRARY_DIRS
+                    ${IPP_LIBRARY_DIRS}
+                    ${INTEL_COMPILER_LIBRARY_DIR}/ia32)
+            endif()
+        endif()
+        set(IPP_LIBRARY_DIRS ${IPP_LIBRARY_DIRS} PARENT_SCOPE)
+
        # set IPP_LIBRARIES variable (7.x or 8.x lib names)
        set_ipp_new_libraries(${_LATEST_VERSION})
        set(IPP_LIBRARIES ${IPP_LIBRARIES} PARENT_SCOPE)
@@ -56,8 +56,29 @@ if(ANDROID)

  # remove CUDA runtime and NPP from regular deps
  # it can be added separately if needed.
-  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "libcu")
-  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "libnpp")
+  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "cusparse")
+  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "cufft")
+  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "cublas")
+  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "npp")
+  ocv_list_filterout(OPENCV_EXTRA_COMPONENTS_CONFIGMAKE "cudart")
+
+  if(HAVE_CUDA)
+    # CUDA runtime libraries and are required always
+    set(culibs ${CUDA_LIBRARIES})
+
+    # right now NPP is requared always too
+    list(INSERT culibs 0 ${CUDA_npp_LIBRARY})
+
+    if(HAVE_CUFFT)
+      list(INSERT culibs 0 ${CUDA_cufft_LIBRARY})
+    endif()
+
+    if(HAVE_CUBLAS)
+      list(INSERT culibs 0 ${CUDA_cublas_LIBRARY})
+    endif()
+  endif()
+
+  ocv_convert_to_lib_name(CUDA_RUNTIME_LIBS_CONFIGMAKE ${culibs})

  # split 3rdparty libs and modules
  foreach(mod ${OPENCV_MODULES_CONFIGMAKE})
@@ -69,6 +90,10 @@ if(ANDROID)
    list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE ${OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE})
  endif()

+  if(ENABLE_DYNAMIC_CUDA)
+    set(OPENCV_DYNAMICUDA_MODULE_CONFIGMAKE "dynamicuda")
+  endif()
+
  # GPU module enabled separately
  list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE "opencv_gpu")
  list(REMOVE_ITEM OPENCV_MODULES_CONFIGMAKE "opencv_dynamicuda")
@@ -84,6 +109,7 @@ if(ANDROID)
    string(REPLACE ";" " " ${lst} "${${lst}}")
  endforeach()
  string(REPLACE "opencv_" "" OPENCV_MODULES_CONFIGMAKE "${OPENCV_MODULES_CONFIGMAKE}")
+  string(REPLACE ";" " " CUDA_RUNTIME_LIBS_CONFIGMAKE "${CUDA_RUNTIME_LIBS_CONFIGMAKE}")

  # prepare 3rd-party component list without TBB for armeabi and mips platforms. TBB is useless there.
  set(OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE_NO_TBB ${OPENCV_3RDPARTY_COMPONENTS_CONFIGMAKE})
@@ -27,7 +27,8 @@
 # The verbose template for OpenCV module:
 #
 #   ocv_add_module(modname <dependencies>)
-#   ocv_glob_module_sources() or glob them manually and ocv_set_module_sources(...)
+#   ocv_glob_module_sources(([EXCLUDE_CUDA] <extra sources&headers>)
+#                          or glob them manually and ocv_set_module_sources(...)
 #   ocv_module_include_directories(<extra include directories>)
 #   ocv_create_module()
 #   <add extra link dependencies, compiler options, etc>
@@ -135,13 +136,13 @@ macro(ocv_add_module _name)

    # parse list of dependencies
    if("${ARGV1}" STREQUAL "INTERNAL" OR "${ARGV1}" STREQUAL "BINDINGS")
-      set(OPENCV_MODULE_${the_module}_CLASS "${ARGV1}" CACHE INTERNAL "The cathegory of the module")
+      set(OPENCV_MODULE_${the_module}_CLASS "${ARGV1}" CACHE INTERNAL "The category of the module")
      set(__ocv_argn__ ${ARGN})
      list(REMOVE_AT __ocv_argn__ 0)
      ocv_add_dependencies(${the_module} ${__ocv_argn__})
      unset(__ocv_argn__)
    else()
-      set(OPENCV_MODULE_${the_module}_CLASS "PUBLIC" CACHE INTERNAL "The cathegory of the module")
+      set(OPENCV_MODULE_${the_module}_CLASS "PUBLIC" CACHE INTERNAL "The category of the module")
      ocv_add_dependencies(${the_module} ${ARGN})
      if(BUILD_${the_module})
        set(OPENCV_MODULES_PUBLIC ${OPENCV_MODULES_PUBLIC} "${the_module}" CACHE INTERNAL "List of OpenCV modules marked for export")
@@ -478,22 +479,38 @@ endmacro()

 # finds and sets headers and sources for the standard OpenCV module
 # Usage:
-# ocv_glob_module_sources(<extra sources&headers in the same format as used in ocv_set_module_sources>)
+# ocv_glob_module_sources([EXCLUDE_CUDA] <extra sources&headers in the same format as used in ocv_set_module_sources>)
 macro(ocv_glob_module_sources)
+  set(_argn ${ARGN})
+  list(FIND _argn "EXCLUDE_CUDA" exclude_cuda)
+  if(NOT exclude_cuda EQUAL -1)
+    list(REMOVE_AT _argn ${exclude_cuda})
+  endif()
+
  file(GLOB_RECURSE lib_srcs "src/*.cpp")
  file(GLOB_RECURSE lib_int_hdrs "src/*.hpp" "src/*.h")
  file(GLOB lib_hdrs "include/opencv2/${name}/*.hpp" "include/opencv2/${name}/*.h")
  file(GLOB lib_hdrs_detail "include/opencv2/${name}/detail/*.hpp" "include/opencv2/${name}/detail/*.h")
+  file(GLOB_RECURSE lib_srcs_apple "src/*.mm")
+  if (APPLE)
+    list(APPEND lib_srcs ${lib_srcs_apple})
+  endif()

-  file(GLOB lib_cuda_srcs "src/cuda/*.cu")
-  set(cuda_objs "")
-  set(lib_cuda_hdrs "")
-  if(HAVE_CUDA)
-    ocv_include_directories(${CUDA_INCLUDE_DIRS})
-    file(GLOB lib_cuda_hdrs "src/cuda/*.hpp")
+  if (exclude_cuda EQUAL -1)
+    file(GLOB lib_cuda_srcs "src/cuda/*.cu")
+    set(cuda_objs "")
+    set(lib_cuda_hdrs "")
+    if(HAVE_CUDA)
+      ocv_include_directories(${CUDA_INCLUDE_DIRS})
+      file(GLOB lib_cuda_hdrs "src/cuda/*.hpp")

-    ocv_cuda_compile(cuda_objs ${lib_cuda_srcs} ${lib_cuda_hdrs})
-    source_group("Src\\Cuda"      FILES ${lib_cuda_srcs} ${lib_cuda_hdrs})
+      ocv_cuda_compile(cuda_objs ${lib_cuda_srcs} ${lib_cuda_hdrs})
+      source_group("Src\\Cuda"      FILES ${lib_cuda_srcs} ${lib_cuda_hdrs})
+    endif()
+  else()
+    set(cuda_objs "")
+    set(lib_cuda_srcs "")
+    set(lib_cuda_hdrs "")
  endif()

  source_group("Src" FILES ${lib_srcs} ${lib_int_hdrs})
@@ -512,8 +529,8 @@ macro(ocv_glob_module_sources)
  source_group("Include" FILES ${lib_hdrs})
  source_group("Include\\detail" FILES ${lib_hdrs_detail})

-  ocv_set_module_sources(${ARGN} HEADERS ${lib_hdrs} ${lib_hdrs_detail}
-                                 SOURCES ${lib_srcs} ${lib_int_hdrs} ${cuda_objs} ${lib_cuda_srcs} ${lib_cuda_hdrs})
+  ocv_set_module_sources(${_argn} HEADERS ${lib_hdrs} ${lib_hdrs_detail}
+                         SOURCES ${lib_srcs} ${lib_int_hdrs} ${cuda_objs} ${lib_cuda_srcs} ${lib_cuda_hdrs})
 endmacro()

 # creates OpenCV module in current folder
@@ -612,11 +629,20 @@ endmacro()
 # short command for adding simple OpenCV module
 # see ocv_add_module for argument details
 # Usage:
-# ocv_define_module(module_name  [INTERNAL] [REQUIRED] [<list of dependencies>] [OPTIONAL <list of optional dependencies>])
+# ocv_define_module(module_name  [INTERNAL] [EXCLUDE_CUDA] [REQUIRED] [<list of dependencies>] [OPTIONAL <list of optional dependencies>])
 macro(ocv_define_module module_name)
-  ocv_add_module(${module_name} ${ARGN})
+  set(_argn ${ARGN})
+  set(exclude_cuda "")
+  foreach(arg ${_argn})
+    if("${arg}" STREQUAL "EXCLUDE_CUDA")
+      set(exclude_cuda "${arg}")
+      list(REMOVE_ITEM _argn ${arg})
+    endif()
+  endforeach()
+
+  ocv_add_module(${module_name} ${_argn})
  ocv_module_include_directories()
-  ocv_glob_module_sources()
+  ocv_glob_module_sources(${exclude_cuda})
  ocv_create_module()
  ocv_add_precompiled_headers(${the_module})

@@ -744,8 +770,8 @@ function(ocv_add_accuracy_tests)
      endif()

      get_native_precompiled_header(${the_target} test_precomp.hpp)
-
      add_executable(${the_target} ${OPENCV_TEST_${the_module}_SOURCES} ${${the_target}_pch})
+
      target_link_libraries(${the_target} ${OPENCV_MODULE_${the_module}_DEPS} ${test_deps} ${OPENCV_LINKER_LIBS})
      add_dependencies(opencv_tests ${the_target})

@@ -1,3 +1,6 @@
+# Use patched version of CPACK to build accurate set of Debian packages
+# https://github.com/asmorkalov/CMake/tree/deb_generator_improvement
+
 if(EXISTS "${CMAKE_ROOT}/Modules/CPack.cmake")
 set(CPACK_set_DESTDIR "on")

@@ -18,6 +21,8 @@ OpenCV makes it easy for businesses to utilize and modify the code.")
  set(CPACK_PACKAGE_VERSION "${OPENCV_VCSVERSION}")
 endif(NOT OPENCV_CUSTOM_PACKAGE_INFO)

+set(CPACK_STRIP_FILES 1)
+
 #arch
 if(X86)
  set(CPACK_DEBIAN_ARCHITECTURE "i386")
@@ -68,32 +73,53 @@ set(CPACK_COMPONENT_tests_DEPENDS libs)

 if(HAVE_CUDA)
  string(REPLACE "." "-" cuda_version_suffix ${CUDA_VERSION})
-  set(CPACK_DEB_libs_PACKAGE_DEPENDS "cuda-core-libs-${cuda_version_suffix}, cuda-extra-libs-${cuda_version_suffix}")
+  if(CUDA_VERSION VERSION_LESS "6.5")
+    set(CPACK_DEB_libs_PACKAGE_DEPENDS "cuda-core-libs-${cuda_version_suffix}, cuda-extra-libs-${cuda_version_suffix}")
+    set(CPACK_DEB_dev_PACKAGE_DEPENDS "cuda-headers-${cuda_version_suffix}")
+  else()
+    set(CPACK_DEB_libs_PACKAGE_DEPENDS "cuda-cudart-${cuda_version_suffix}, cuda-npp-${cuda_version_suffix}")
+    set(CPACK_DEB_dev_PACKAGE_DEPENDS "cuda-cudart-dev-${cuda_version_suffix}, cuda-npp-dev-${cuda_version_suffix}")
+    if(HAVE_CUFFT)
+      set(CPACK_DEB_libs_PACKAGE_DEPENDS "${CPACK_DEB_libs_PACKAGE_DEPENDS}, cuda-cufft-${cuda_version_suffix}")
+      set(CPACK_DEB_dev_PACKAGE_DEPENDS "${CPACK_DEB_dev_PACKAGE_DEPENDS}, cuda-cufft-dev-${cuda_version_suffix}")
+    endif()
+    if(HAVE_HAVE_CUBLAS)
+      set(CPACK_DEB_libs_PACKAGE_DEPENDS "${CPACK_DEB_libs_PACKAGE_DEPENDS}, cuda-cublas-${cuda_version_suffix}")
+      set(CPACK_DEB_dev_PACKAGE_DEPENDS "${CPACK_DEB_dev_PACKAGE_DEPENDS}, cuda-cublas-dev-${cuda_version_suffix}")
+    endif()
+  endif()
+
  set(CPACK_COMPONENT_dev_DEPENDS libs)
-  set(CPACK_DEB_dev_PACKAGE_DEPENDS "cuda-headers-${cuda_version_suffix}")
 endif()

 if(NOT OPENCV_CUSTOM_PACKAGE_INFO)
  set(CPACK_COMPONENT_libs_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}")
  set(CPACK_COMPONENT_libs_DESCRIPTION "Open Computer Vision Library")
+  set(CPACK_COMPONENT_libs_SECTION "libs")

  set(CPACK_COMPONENT_python_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-python")
  set(CPACK_COMPONENT_python_DESCRIPTION "Python bindings for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_python_SECTION "python")

  set(CPACK_COMPONENT_java_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-java")
  set(CPACK_COMPONENT_java_DESCRIPTION "Java bindings for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_java_SECTION "java")

  set(CPACK_COMPONENT_dev_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-dev")
  set(CPACK_COMPONENT_dev_DESCRIPTION "Development files for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_dev_SECTION "libdevel")

  set(CPACK_COMPONENT_docs_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-docs")
  set(CPACK_COMPONENT_docs_DESCRIPTION "Documentation for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_docs_SECTION "doc")

  set(CPACK_COMPONENT_samples_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-samples")
  set(CPACK_COMPONENT_samples_DESCRIPTION "Samples for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_samples_SECTION "devel")

  set(CPACK_COMPONENT_tests_DISPLAY_NAME "lib${CMAKE_PROJECT_NAME}-tests")
  set(CPACK_COMPONENT_tests_DESCRIPTION "Accuracy and performance tests for Open Source Computer Vision Library")
+  set(CPACK_COMPONENT_tests_SECTION "misc")
 endif(NOT OPENCV_CUSTOM_PACKAGE_INFO)

 if(NOT OPENCV_CUSTOM_PACKAGE_LAYOUT)
@@ -448,6 +448,20 @@ macro(ocv_convert_to_full_paths VAR)
 endmacro()


+# convert list of paths to libraries names without lib prefix
+macro(ocv_convert_to_lib_name var)
+  set(__tmp "")
+  foreach(path ${ARGN})
+    get_filename_component(__tmp_name "${path}" NAME_WE)
+    string(REGEX REPLACE "^lib" "" __tmp_name ${__tmp_name})
+    list(APPEND __tmp "${__tmp_name}")
+  endforeach()
+  set(${var} ${__tmp})
+  unset(__tmp)
+  unset(__tmp_name)
+endmacro()
+
+
 # add install command
 function(ocv_install_target)
  install(TARGETS ${ARGN})
@@ -2,6 +2,13 @@
 # you might need to define NDK_USE_CYGPATH=1 before calling the ndk-build

 USER_LOCAL_PATH:=$(LOCAL_PATH)
+
+USER_LOCAL_C_INCLUDES:=$(LOCAL_C_INCLUDES)
+USER_LOCAL_CFLAGS:=$(LOCAL_CFLAGS)
+USER_LOCAL_STATIC_LIBRARIES:=$(LOCAL_STATIC_LIBRARIES)
+USER_LOCAL_SHARED_LIBRARIES:=$(LOCAL_SHARED_LIBRARIES)
+USER_LOCAL_LDLIBS:=$(LOCAL_LDLIBS)
+
 LOCAL_PATH:=$(subst ?,,$(firstword ?$(subst \, ,$(subst /, ,$(call my-dir)))))

 OPENCV_TARGET_ARCH_ABI:=$(TARGET_ARCH_ABI)
@@ -13,7 +20,7 @@ OPENCV_BASEDIR:=@OPENCV_BASE_INCLUDE_DIR_CONFIGCMAKE@
 OPENCV_LOCAL_C_INCLUDES:=@OPENCV_INCLUDE_DIRS_CONFIGCMAKE@
 OPENCV_MODULES:=@OPENCV_MODULES_CONFIGMAKE@

-OPENCV_HAVE_GPU_MODULE=@OPENCV_HAVE_GPU_MODULE_CONFIGMAKE@
+OPENCV_HAVE_GPU_MODULE:=@OPENCV_HAVE_GPU_MODULE_CONFIGMAKE@
 OPENCV_USE_GPU_MODULE:=

 ifeq ($(TARGET_ARCH_ABI),armeabi-v7a)
@@ -22,9 +29,12 @@ ifeq ($(TARGET_ARCH_ABI),armeabi-v7a)
            OPENCV_USE_GPU_MODULE:=on
        endif
    endif
+    OPENCV_DYNAMICUDA_MODULE:=@OPENCV_DYNAMICUDA_MODULE_CONFIGMAKE@
+else
+    OPENCV_DYNAMICUDA_MODULE:=
 endif

-CUDA_RUNTIME_LIBS:=cufft npps nppi nppc cudart
+CUDA_RUNTIME_LIBS:=@CUDA_RUNTIME_LIBS_CONFIGMAKE@

 ifeq ($(OPENCV_LIB_TYPE),)
    OPENCV_LIB_TYPE:=@OPENCV_LIBTYPE_CONFIGMAKE@
@@ -60,7 +70,7 @@ else
    endif
 endif

-ifeq (${OPENCV_CAMERA_MODULES},on)
+ifeq ($(OPENCV_CAMERA_MODULES),on)
    ifeq ($(TARGET_ARCH_ABI),armeabi)
        OPENCV_CAMERA_MODULES:=@OPENCV_CAMERA_LIBS_ARMEABI_CONFIGCMAKE@
    endif
@@ -91,6 +101,13 @@ define add_opencv_module
    include $(PREBUILT_$(OPENCV_LIB_TYPE)_LIBRARY)
 endef

+define add_cuda_module
+    include $(CLEAR_VARS)
+    LOCAL_MODULE:=$1
+    LOCAL_SRC_FILES:=$(CUDA_TOOLKIT_DIR)/targets/armv7-linux-androideabi/lib/lib$1.so
+    include $(PREBUILT_SHARED_LIBRARY)
+endef
+
 define add_opencv_3rdparty_component
    include $(CLEAR_VARS)
    LOCAL_MODULE:=$1
@@ -108,6 +125,17 @@ endef
 ifeq ($(OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_ALREADY_INCLUDED),)
    ifeq ($(OPENCV_INSTALL_MODULES),on)
        $(foreach module,$(OPENCV_LIBS),$(eval $(call add_opencv_module,$(module))))
+        ifneq ($(OPENCV_DYNAMICUDA_MODULE),)
+            ifeq ($(OPENCV_LIB_TYPE),SHARED)
+              $(eval $(call add_opencv_module,$(OPENCV_DYNAMICUDA_MODULE)))
+            endif
+        endif
+    endif
+
+    ifeq ($(OPENCV_USE_GPU_MODULE),on)
+        ifeq ($(INSTALL_CUDA_LIBRARIES),on)
+            $(foreach module,$(CUDA_RUNTIME_LIBS),$(eval $(call add_cuda_module,$(module))))
+        endif
    endif

    $(foreach module,$(OPENCV_3RDPARTY_COMPONENTS),$(eval $(call add_opencv_3rdparty_component,$(module))))
@@ -124,11 +152,14 @@ ifeq ($(OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_ALREADY_INCLUDED),)
    OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_ALREADY_INCLUDED:=on
 endif

-ifeq ($(OPENCV_USE_GPU_MODULE),on)
-    include $(CLEAR_VARS)
-    LOCAL_MODULE:=opencv_gpu
-    LOCAL_SRC_FILES:=$(OPENCV_LIBS_DIR)/libopencv_gpu.a
-    include $(PREBUILT_STATIC_LIBRARY)
+ifeq ($(OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_GPU_ALREADY_INCLUDED),)
+    ifeq ($(OPENCV_USE_GPU_MODULE),on)
+        include $(CLEAR_VARS)
+        LOCAL_MODULE:=opencv_gpu
+        LOCAL_SRC_FILES:=$(OPENCV_LIBS_DIR)/libopencv_gpu.a
+        include $(PREBUILT_STATIC_LIBRARY)
+    endif
+    OPENCV_MK_$(OPENCV_TARGET_ARCH_ABI)_GPU_ALREADY_INCLUDED:=on
 endif

 ifeq ($(OPENCV_LOCAL_CFLAGS),)
@@ -136,6 +167,13 @@ ifeq ($(OPENCV_LOCAL_CFLAGS),)
 endif

 include $(CLEAR_VARS)
+
+LOCAL_C_INCLUDES:=$(USER_LOCAL_C_INCLUDES)
+LOCAL_CFLAGS:=$(USER_LOCAL_CFLAGS)
+LOCAL_STATIC_LIBRARIES:=$(USER_LOCAL_STATIC_LIBRARIES)
+LOCAL_SHARED_LIBRARIES:=$(USER_LOCAL_SHARED_LIBRARIES)
+LOCAL_LDLIBS:=$(USER_LOCAL_LDLIBS)
+
 LOCAL_C_INCLUDES += $(OPENCV_LOCAL_C_INCLUDES)
 LOCAL_CFLAGS     += $(OPENCV_LOCAL_CFLAGS)

@@ -145,6 +183,11 @@ endif

 ifeq ($(OPENCV_INSTALL_MODULES),on)
    LOCAL_$(OPENCV_LIB_TYPE)_LIBRARIES += $(foreach mod, $(OPENCV_LIBS), opencv_$(mod))
+    ifeq ($(OPENCV_LIB_TYPE),SHARED)
+        ifneq ($(OPENCV_DYNAMICUDA_MODULE),)
+            LOCAL_$(OPENCV_LIB_TYPE)_LIBRARIES += $(OPENCV_DYNAMICUDA_MODULE)
+        endif
+    endif
 else
    LOCAL_LDLIBS += -L$(call host-path,$(LOCAL_PATH)/$(OPENCV_LIBS_DIR)) $(foreach lib, $(OPENCV_LIBS), -lopencv_$(lib))
 endif
@@ -156,8 +199,12 @@ endif
 LOCAL_LDLIBS += $(foreach lib,$(OPENCV_EXTRA_COMPONENTS), -l$(lib))

 ifeq ($(OPENCV_USE_GPU_MODULE),on)
+    ifeq ($(INSTALL_CUDA_LIBRARIES),on)
+        LOCAL_SHARED_LIBRARIES += $(foreach mod, $(CUDA_RUNTIME_LIBS), $(mod))
+    else
+        LOCAL_LDLIBS += -L$(CUDA_TOOLKIT_DIR)/targets/armv7-linux-androideabi/lib $(foreach lib, $(CUDA_RUNTIME_LIBS), -l$(lib))
+    endif
    LOCAL_STATIC_LIBRARIES+=libopencv_gpu
-    LOCAL_LDLIBS += -L$(CUDA_TOOLKIT_DIR)/lib $(foreach lib, $(CUDA_RUNTIME_LIBS), -l$(lib))
 endif

 #restore the LOCAL_PATH
@@ -18,8 +18,8 @@
 #    This file will define the following variables:
 #      - OpenCV_LIBS                     : The list of all imported targets for OpenCV modules.
 #      - OpenCV_INCLUDE_DIRS             : The OpenCV include directories.
-#      - OpenCV_COMPUTE_CAPABILITIES     : The version of compute capability
-#      - OpenCV_ANDROID_NATIVE_API_LEVEL : Minimum required level of Android API
+#      - OpenCV_COMPUTE_CAPABILITIES     : The version of compute capability.
+#      - OpenCV_ANDROID_NATIVE_API_LEVEL : Minimum required level of Android API.
 #      - OpenCV_VERSION                  : The version of this OpenCV build: "@OPENCV_VERSION@"
 #      - OpenCV_VERSION_MAJOR            : Major version part of OpenCV_VERSION: "@OPENCV_VERSION_MAJOR@"
 #      - OpenCV_VERSION_MINOR            : Minor version part of OpenCV_VERSION: "@OPENCV_VERSION_MINOR@"
@@ -27,22 +27,26 @@
 #      - OpenCV_VERSION_TWEAK            : Tweak version part of OpenCV_VERSION: "@OPENCV_VERSION_TWEAK@"
 #
 #    Advanced variables:
-#      - OpenCV_SHARED
-#      - OpenCV_CONFIG_PATH
-#      - OpenCV_INSTALL_PATH  (not set on Windows)
-#      - OpenCV_LIB_COMPONENTS
-#      - OpenCV_USE_MANGLED_PATHS
-#      - OpenCV_HAVE_ANDROID_CAMERA
+#      - OpenCV_SHARED                   : Use OpenCV as shared library
+#      - OpenCV_CONFIG_PATH              : Path to this OpenCVConfig.cmake
+#      - OpenCV_INSTALL_PATH             : OpenCV location (not set on Windows)
+#      - OpenCV_LIB_COMPONENTS           : Present OpenCV modules list
+#      - OpenCV_USE_MANGLED_PATHS        : Mangled OpenCV path flag
+#      - OpenCV_MODULES_SUFFIX           : The suffix for OpenCVModules-XXX.cmake file
+#      - OpenCV_HAVE_ANDROID_CAMERA      : Presence of Android native camera wrappers
 #
 # ===================================================================================

-set(modules_file_suffix "")
-if(ANDROID)
-  string(REPLACE - _ modules_file_suffix "_${ANDROID_NDK_ABI_NAME}")
+if(NOT DEFINED OpenCV_MODULES_SUFFIX)
+  if(ANDROID)
+    string(REPLACE - _ OpenCV_MODULES_SUFFIX "_${ANDROID_NDK_ABI_NAME}")
+  else()
+    set(OpenCV_MODULES_SUFFIX "")
+  endif()
 endif()

 if(NOT TARGET opencv_core)
-  include(${CMAKE_CURRENT_LIST_DIR}/OpenCVModules${modules_file_suffix}.cmake)
+  include(${CMAKE_CURRENT_LIST_DIR}/OpenCVModules${OpenCV_MODULES_SUFFIX}.cmake)
 endif()

 # TODO All things below should be reviewed. What is about of moving this code into related modules (special vars/hooks/files)
@@ -56,7 +60,11 @@ set(OpenCV_USE_CUFFT    @HAVE_CUFFT@)
 set(OpenCV_USE_NVCUVID  @HAVE_NVCUVID@)

 # Android API level from which OpenCV has been compiled is remembered
-set(OpenCV_ANDROID_NATIVE_API_LEVEL @OpenCV_ANDROID_NATIVE_API_LEVEL_CONFIGCMAKE@)
+if(ANDROID)
+  set(OpenCV_ANDROID_NATIVE_API_LEVEL @OpenCV_ANDROID_NATIVE_API_LEVEL_CONFIGCMAKE@)
+else()
+  set(OpenCV_ANDROID_NATIVE_API_LEVEL 0)
+endif()

 # Some additional settings are required if OpenCV is built as static libs
 set(OpenCV_SHARED @BUILD_SHARED_LIBS@)
@@ -67,8 +75,8 @@ set(OpenCV_USE_MANGLED_PATHS @OpenCV_USE_MANGLED_PATHS_CONFIGCMAKE@)
 # Extract the directory where *this* file has been installed (determined at cmake run-time)
 get_filename_component(OpenCV_CONFIG_PATH "${CMAKE_CURRENT_LIST_FILE}" PATH CACHE)

-if(NOT WIN32 OR OpenCV_ANDROID_NATIVE_API_LEVEL GREATER 0)
-  if(OpenCV_ANDROID_NATIVE_API_LEVEL GREATER 0)
+if(NOT WIN32 OR ANDROID)
+  if(ANDROID)
    set(OpenCV_INSTALL_PATH "${OpenCV_CONFIG_PATH}/../../..")
  else()
    set(OpenCV_INSTALL_PATH "${OpenCV_CONFIG_PATH}/../..")
@@ -206,7 +214,7 @@ foreach(__opttype OPT DBG)
  SET(OpenCV_EXTRA_LIBS_${__opttype} "")

  # CUDA
-  if(OpenCV_CUDA_VERSION AND (CMAKE_CROSSCOMPILING OR (WIN32 AND NOT OpenCV_SHARED)))
+  if(OpenCV_CUDA_VERSION)
    if(NOT CUDA_FOUND)
      find_package(CUDA ${OpenCV_CUDA_VERSION} EXACT REQUIRED)
    else()
@@ -215,32 +223,41 @@ foreach(__opttype OPT DBG)
      endif()
    endif()

-    list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_LIBRARIES})
+    set(OpenCV_CUDA_LIBS_ABSPATH ${CUDA_LIBRARIES})

    if(${CUDA_VERSION} VERSION_LESS "5.5")
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_npp_LIBRARY})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_npp_LIBRARY})
    else()
      find_cuda_helper_libs(nppc)
      find_cuda_helper_libs(nppi)
      find_cuda_helper_libs(npps)
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY})
    endif()

    if(OpenCV_USE_CUBLAS)
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_CUBLAS_LIBRARIES})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_CUBLAS_LIBRARIES})
    endif()

    if(OpenCV_USE_CUFFT)
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_CUFFT_LIBRARIES})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_CUFFT_LIBRARIES})
    endif()

    if(OpenCV_USE_NVCUVID)
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_nvcuvid_LIBRARIES})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_nvcuvid_LIBRARIES})
    endif()

    if(WIN32)
-      list(APPEND OpenCV_EXTRA_LIBS_${__opttype} ${CUDA_nvcuvenc_LIBRARIES})
+      list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_nvcuvenc_LIBRARIES})
    endif()
+
+    set(OpenCV_CUDA_LIBS_RELPATH "")
+    foreach(l ${OpenCV_CUDA_LIBS_ABSPATH})
+      get_filename_component(_tmp ${l} PATH)
+      list(APPEND OpenCV_CUDA_LIBS_RELPATH ${_tmp})
+    endforeach()
+
+    list(REMOVE_DUPLICATES OpenCV_CUDA_LIBS_RELPATH)
+    link_directories(${OpenCV_CUDA_LIBS_RELPATH})
  endif()
 endforeach()

@@ -161,6 +161,6 @@
 /* Xine video library */
 #cmakedefine HAVE_XINE

-/* Define to 1 if your processor stores words with the most significant byte
+/* Define if your processor stores words with the most significant byte
   first (like Motorola and SPARC, unlike Intel and VAX). */
 #cmakedefine WORDS_BIGENDIAN
@@ -0,0 +1,51 @@
+#!/bin/sh
+
+BASE_DIR=`dirname $0`
+OPENCV_TEST_PATH=$BASE_DIR/@TEST_PATH@
+OPENCV_TEST_DATA_PATH=$BASE_DIR/sdk/etc/testdata/
+
+if [ $# -ne 1 ]; then
+  echo "Device architecture is not preset in command line"
+  echo "Tests are available for architectures: `ls -m ${OPENCV_TEST_PATH}`"
+  echo "Usage: $0 <target_device_arch>"
+  return 1
+else
+  TARGET_ARCH=$1
+fi
+
+if [ -z `which adb` ]; then
+  echo "adb command was not found in PATH"
+  return 1
+fi
+
+adb push $OPENCV_TEST_DATA_PATH /sdcard/opencv_testdata
+
+adb shell "mkdir -p /data/local/tmp/opencv_test"
+SUMMARY_STATUS=0
+for t in "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_test_* "$OPENCV_TEST_PATH/$TARGET_ARCH/"opencv_perf_*;
+do
+  test_name=`basename "$t"`
+  report="$test_name-`date --rfc-3339=date`.xml"
+  adb push $t /data/local/tmp/opencv_test/
+  adb shell "export OPENCV_TEST_DATA_PATH=/sdcard/opencv_testdata && /data/local/tmp/opencv_test/$test_name --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:/data/local/tmp/opencv_test/$report"
+  adb pull "/data/local/tmp/opencv_test/$report" $report
+  TEST_STATUS=0
+  if [ -e $report ]; then
+    if [ `grep -c "<fail" $report` -ne 0 ]; then
+      TEST_STATUS=2
+    fi
+  else
+    TEST_STATUS=3
+  fi
+  if [ $TEST_STATUS -ne 0 ]; then
+    SUMMARY_STATUS=$TEST_STATUS
+  fi
+done
+
+if [ $SUMMARY_STATUS -eq 0 ]; then
+  echo "All OpenCV tests finished successfully"
+else
+  echo "OpenCV tests finished with status $SUMMARY_STATUS"
+fi
+
+return $SUMMARY_STATUS
@@ -1,6 +1,6 @@
 #!/bin/sh

-OPENCV_TEST_PATH=@OPENCV_TEST_INSTALL_PATH@
+OPENCV_TEST_PATH=@CMAKE_INSTALL_PREFIX@/@OPENCV_TEST_INSTALL_PATH@
 export OPENCV_TEST_DATA_PATH=@CMAKE_INSTALL_PREFIX@/share/OpenCV/testdata

 SUMMARY_STATUS=0
@@ -13,6 +13,10 @@ if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
  if(ANDROID)
    install(DIRECTORY ${OPENCV_TEST_DATA_PATH} DESTINATION sdk/etc/testdata COMPONENT tests)
  elseif(NOT WIN32)
-    install(DIRECTORY ${OPENCV_TEST_DATA_PATH} DESTINATION share/OpenCV/testdata COMPONENT tests)
+    # CPack does not set correct permissions by default, so we do it explicitly.
+    install(DIRECTORY ${OPENCV_TEST_DATA_PATH}
+            DIRECTORY_PERMISSIONS OWNER_WRITE OWNER_READ OWNER_EXECUTE
+              GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+            DESTINATION share/OpenCV/testdata COMPONENT tests)
  endif()
 endif()
@@ -44,7 +44,7 @@ master_doc = 'index'

 # General information about the project.
 project = u'OpenCV'
-copyright = u'2011-2013, opencv dev team'
+copyright = u'2011-2014, opencv dev team'

 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -293,11 +293,11 @@ extlinks = {
            'oldbasicstructures' : ('http://docs.opencv.org/modules/core/doc/old_basic_structures.html#%s', None),
            'readwriteimagevideo' : ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
            'operationsonarrays' : ('http://docs.opencv.org/modules/core/doc/operations_on_arrays.html#%s', None),
-            'utilitysystemfunctions':('http://docs.opencv.org/modules/core/doc/utility_and_system_functions_and_macros.html#%s', None),
-            'imgprocfilter':('http://docs.opencv.org/modules/imgproc/doc/filtering.html#%s', None),
-            'svms':('http://docs.opencv.org/modules/ml/doc/support_vector_machines.html#%s', None),
-            'drawingfunc':('http://docs.opencv.org/modules/core/doc/drawing_functions.html#%s', None),
-            'xmlymlpers':('http://docs.opencv.org/modules/core/doc/xml_yaml_persistence.html#%s', None),
+            'utilitysystemfunctions' : ('http://docs.opencv.org/modules/core/doc/utility_and_system_functions_and_macros.html#%s', None),
+            'imgprocfilter' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html#%s', None),
+            'svms' : ('http://docs.opencv.org/modules/ml/doc/support_vector_machines.html#%s', None),
+            'drawingfunc' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#%s', None),
+            'xmlymlpers' : ('http://docs.opencv.org/modules/core/doc/xml_yaml_persistence.html#%s', None),
            'hgvideo' : ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
            'gpuinit' : ('http://docs.opencv.org/modules/gpu/doc/initalization_and_information.html#%s', None),
            'gpudatastructure' : ('http://docs.opencv.org/modules/gpu/doc/data_structures.html#%s', None),
@@ -305,56 +305,58 @@ extlinks = {
            'gpuperelement' : ('http://docs.opencv.org/modules/gpu/doc/per_element_operations.html#%s', None),
            'gpuimgproc' : ('http://docs.opencv.org/modules/gpu/doc/image_processing.html#%s', None),
            'gpumatrixreduct' : ('http://docs.opencv.org/modules/gpu/doc/matrix_reductions.html#%s', None),
-            'filtering':('http://docs.opencv.org/modules/imgproc/doc/filtering.html#%s', None),
+            'filtering' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html#%s', None),
            'flann' : ('http://docs.opencv.org/modules/flann/doc/flann_fast_approximate_nearest_neighbor_search.html#%s', None ),
            'calib3d' : ('http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#%s', None ),
            'feature2d' : ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html#%s', None ),
            'imgproc_geometric' : ('http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html#%s', None ),
+            'miscellaneous_transformations' : ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html#%s', None),
+            'user_interface' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html#%s', None),

            # 'opencv_group' : ('http://answers.opencv.org/%s', None),
            'opencv_qa' : ('http://answers.opencv.org/%s', None),
            'how_to_contribute' : ('http://code.opencv.org/projects/opencv/wiki/How_to_contribute/%s', None),

-            'cvt_color': ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=cvtcolor#cvtcolor%s', None),
-            'imread':    ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=imread#imread%s', None),
-            'imwrite':   ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=imwrite#imwrite%s', None),
-            'imshow':    ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=imshow#imshow%s', None),
-            'named_window': ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=namedwindow#namedwindow%s', None),
-            'wait_key': ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=waitkey#waitkey%s', None),
-            'add_weighted': ('http://docs.opencv.org/modules/core/doc/operations_on_arrays.html?highlight=addweighted#addweighted%s', None),
-            'saturate_cast': ('http://docs.opencv.org/modules/core/doc/utility_and_system_functions_and_macros.html?highlight=saturate_cast#saturate-cast%s', None),
-            'mat_zeros': ('http://docs.opencv.org/modules/core/doc/basic_structures.html?highlight=zeros#mat-zeros%s', None),
-            'convert_to': ('http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto%s', None),
-            'create_trackbar': ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=createtrackbar#createtrackbar%s', None),
-            'point': ('http://docs.opencv.org/modules/core/doc/basic_structures.html#point%s', None),
-            'scalar': ('http://docs.opencv.org/modules/core/doc/basic_structures.html#scalar%s', None),
-            'line': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#line%s', None),
-            'ellipse': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#ellipse%s', None),
-            'rectangle': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#rectangle%s', None),
-            'circle': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#circle%s', None),
-            'fill_poly': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#fillpoly%s', None),
-            'rng': ('http://docs.opencv.org/modules/core/doc/operations_on_arrays.html?highlight=rng#rng%s', None),
-            'put_text': ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#puttext%s', None),
-            'gaussian_blur': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=gaussianblur#gaussianblur%s', None),
-            'blur': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=blur#blur%s', None),
-            'median_blur': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=medianblur#medianblur%s', None),
-            'bilateral_filter': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=bilateralfilter#bilateralfilter%s', None),
-            'erode': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=erode#erode%s', None),
-            'dilate': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=dilate#dilate%s', None),
-            'get_structuring_element': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=getstructuringelement#getstructuringelement%s', None),
-            'flood_fill': ( 'http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=floodfill#floodfill%s', None),
-            'morphology_ex': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=morphologyex#morphologyex%s', None),
-            'pyr_down': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=pyrdown#pyrdown%s', None),
-            'pyr_up': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=pyrup#pyrup%s', None),
-            'resize': ('http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html?highlight=resize#resize%s', None),
-            'threshold': ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=threshold#threshold%s', None),
-            'filter2d': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=filter2d#filter2d%s', None),
-            'copy_make_border': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=copymakeborder#copymakeborder%s', None),
-            'sobel': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=sobel#sobel%s', None),
-            'scharr': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=scharr#scharr%s', None),
-            'laplacian': ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=laplacian#laplacian%s', None),
-            'canny': ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html?highlight=canny#canny%s', None),
-            'copy_to': ('http://docs.opencv.org/modules/core/doc/basic_structures.html?highlight=copyto#mat-copyto%s', None),
+            'cvt_color' : ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=cvtcolor#cvtcolor%s', None),
+            'imread' : ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=imread#imread%s', None),
+            'imwrite' : ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=imwrite#imwrite%s', None),
+            'imshow' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=imshow#imshow%s', None),
+            'named_window' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=namedwindow#namedwindow%s', None),
+            'wait_key' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=waitkey#waitkey%s', None),
+            'add_weighted' : ('http://docs.opencv.org/modules/core/doc/operations_on_arrays.html?highlight=addweighted#addweighted%s', None),
+            'saturate_cast' : ('http://docs.opencv.org/modules/core/doc/utility_and_system_functions_and_macros.html?highlight=saturate_cast#saturate-cast%s', None),
+            'mat_zeros' : ('http://docs.opencv.org/modules/core/doc/basic_structures.html?highlight=zeros#mat-zeros%s', None),
+            'convert_to' : ('http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto%s', None),
+            'create_trackbar' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html?highlight=createtrackbar#createtrackbar%s', None),
+            'point' : ('http://docs.opencv.org/modules/core/doc/basic_structures.html#point%s', None),
+            'scalar' : ('http://docs.opencv.org/modules/core/doc/basic_structures.html#scalar%s', None),
+            'line' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#line%s', None),
+            'ellipse' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#ellipse%s', None),
+            'rectangle' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#rectangle%s', None),
+            'circle' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#circle%s', None),
+            'fill_poly' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#fillpoly%s', None),
+            'rng' : ('http://docs.opencv.org/modules/core/doc/operations_on_arrays.html?highlight=rng#rng%s', None),
+            'put_text' : ('http://docs.opencv.org/modules/core/doc/drawing_functions.html#puttext%s', None),
+            'gaussian_blur' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=gaussianblur#gaussianblur%s', None),
+            'blur' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=blur#blur%s', None),
+            'median_blur' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=medianblur#medianblur%s', None),
+            'bilateral_filter' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=bilateralfilter#bilateralfilter%s', None),
+            'erode' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=erode#erode%s', None),
+            'dilate' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=dilate#dilate%s', None),
+            'get_structuring_element' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=getstructuringelement#getstructuringelement%s', None),
+            'flood_fill' : ( 'http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=floodfill#floodfill%s', None),
+            'morphology_ex' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=morphologyex#morphologyex%s', None),
+            'pyr_down' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=pyrdown#pyrdown%s', None),
+            'pyr_up' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=pyrup#pyrup%s', None),
+            'resize' : ('http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html?highlight=resize#resize%s', None),
+            'threshold' : ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html?highlight=threshold#threshold%s', None),
+            'filter2d' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=filter2d#filter2d%s', None),
+            'copy_make_border' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=copymakeborder#copymakeborder%s', None),
+            'sobel' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=sobel#sobel%s', None),
+            'scharr' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=scharr#scharr%s', None),
+            'laplacian' : ('http://docs.opencv.org/modules/imgproc/doc/filtering.html?highlight=laplacian#laplacian%s', None),
+            'canny' : ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html?highlight=canny#canny%s', None),
+            'copy_to' : ('http://docs.opencv.org/modules/core/doc/basic_structures.html?highlight=copyto#mat-copyto%s', None),
            'hough_lines' : ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html?highlight=houghlines#houghlines%s', None),
            'hough_lines_p' : ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html?highlight=houghlinesp#houghlinesp%s', None),
            'hough_circles' : ('http://docs.opencv.org/modules/imgproc/doc/feature_detection.html?highlight=houghcircles#houghcircles%s', None),
@@ -492,7 +492,7 @@ class=Typewch><span lang=EN-US>- weighttrimming &lt;weight_trimming&gt;</span></
 <p class=MsoNormal style='margin-left:17.1pt;text-indent:-17.1pt'><span
 class=Typewch><span lang=EN-US>  </span></span><span class=Typewch><span
 lang=EN-US style='font-family:"Times New Roman";font-weight:normal'>Specifies
-wheter and how much weight trimming should be used. A decent choice is 0.90.</span></span></p>
+whether and how much weight trimming should be used. A decent choice is 0.90.</span></span></p>

 <p class=MsoNormal style='margin-left:17.1pt;text-indent:-17.1pt'><span
 class=Typewch><span lang=EN-US>- eqw</span></span></p>
@@ -6,12 +6,12 @@ Adding (blending) two images using OpenCV
 Goal
 =====

-In this tutorial you will learn how to:
+In this tutorial you will learn:

 .. container:: enumeratevisibleitemswithsquare

-   * What is *linear blending* and why it is useful.
-   * Add two images using :add_weighted:`addWeighted <>`
+   * what is *linear blending* and why it is useful;
+   * how to add two images using :add_weighted:`addWeighted <>`

 Theory
 =======
@@ -18,7 +18,7 @@ We'll seek answers for the following questions:
 Our test case
 =============

-Let us consider a simple color reduction method. Using the unsigned char C and C++ type for matrix item storing a channel of pixel may have up to 256 different values. For a three channel image this can allow the formation of way too many colors (16 million to be exact). Working with so many color shades may give a heavy blow to our algorithm performance. However, sometimes it is enough to work with a lot less of them to get the same final result.
+Let us consider a simple color reduction method. By using the unsigned char C and C++ type for matrix item storing, a channel of pixel may have up to 256 different values. For a three channel image this can allow the formation of way too many colors (16 million to be exact). Working with so many color shades may give a heavy blow to our algorithm performance. However, sometimes it is enough to work with a lot less of them to get the same final result.

 In this cases it's common that we make a *color space reduction*. This means that we divide the color space current value with a new input value to end up with fewer colors. For instance every value between zero and nine takes the new value zero, every value between ten and nineteen the value ten and so on.

@@ -32,14 +32,14 @@ Here's a function that will do this:

 .. code-block:: cpp

-   void Sharpen(const Mat& myImage,Mat& Result)
+   void Sharpen(const Mat& myImage, Mat& Result)
   {
       CV_Assert(myImage.depth() == CV_8U);  // accept only uchar images

-       Result.create(myImage.size(),myImage.type());
+       Result.create(myImage.size(), myImage.type());
       const int nChannels = myImage.channels();

-       for(int j = 1 ; j < myImage.rows-1; ++j)
+       for(int j = 1; j < myImage.rows - 1; ++j)
       {
           const uchar* previous = myImage.ptr<uchar>(j - 1);
           const uchar* current  = myImage.ptr<uchar>(j    );
@@ -47,17 +47,17 @@ Here's a function that will do this:

           uchar* output = Result.ptr<uchar>(j);

-           for(int i= nChannels;i < nChannels*(myImage.cols-1); ++i)
+           for(int i = nChannels; i < nChannels * (myImage.cols - 1); ++i)
           {
-               *output++ = saturate_cast<uchar>(5*current[i]
-                            -current[i-nChannels] - current[i+nChannels] - previous[i] - next[i]);
+               *output++ = saturate_cast<uchar>(5 * current[i]
+                            -current[i - nChannels] - current[i + nChannels] - previous[i] - next[i]);
           }
       }

       Result.row(0).setTo(Scalar(0));
-       Result.row(Result.rows-1).setTo(Scalar(0));
+       Result.row(Result.rows - 1).setTo(Scalar(0));
       Result.col(0).setTo(Scalar(0));
-       Result.col(Result.cols-1).setTo(Scalar(0));
+       Result.col(Result.cols - 1).setTo(Scalar(0));
   }

 At first we make sure that the input images data is in unsigned char format. For this we use the :utilitysystemfunctions:`CV_Assert <cv-assert>` function that throws an error when the expression inside it is false.
@@ -70,14 +70,14 @@ We create an output image with the same size and the same type as our input. As

 .. code-block:: cpp

-   Result.create(myImage.size(),myImage.type());
+   Result.create(myImage.size(), myImage.type());
   const int nChannels = myImage.channels();

 We'll use the plain C [] operator to access pixels. Because we need to access multiple rows at the same time we'll acquire the pointers for each of them (a previous, a current and a next line). We need another pointer to where we're going to save the calculation. Then simply access the right items with the [] operator. For moving the output pointer ahead we simply increase this (with one byte) after each operation:

 .. code-block:: cpp

-   for(int j = 1 ; j < myImage.rows-1; ++j)
+   for(int j = 1; j < myImage.rows - 1; ++j)
   {
       const uchar* previous = myImage.ptr<uchar>(j - 1);
       const uchar* current  = myImage.ptr<uchar>(j    );
@@ -85,21 +85,21 @@ We'll use the plain C [] operator to access pixels. Because we need to access mu

       uchar* output = Result.ptr<uchar>(j);

-       for(int i= nChannels;i < nChannels*(myImage.cols-1); ++i)
+       for(int i = nChannels; i < nChannels * (myImage.cols - 1); ++i)
       {
-           *output++ = saturate_cast<uchar>(5*current[i]
-                        -current[i-nChannels] - current[i+nChannels] - previous[i] - next[i]);
+           *output++ = saturate_cast<uchar>(5 * current[i]
+                        -current[i - nChannels] - current[i + nChannels] - previous[i] - next[i]);
       }
   }

-On the borders of the image the upper notation results inexistent pixel locations (like minus one - minus one). In these points our formula is undefined. A simple solution is to not apply the mask in these points and, for example, set the pixels on the borders to zeros:
+On the borders of the image the upper notation results inexistent pixel locations (like minus one - minus one). In these points our formula is undefined. A simple solution is to not apply the kernel in these points and, for example, set the pixels on the borders to zeros:

 .. code-block:: cpp

-   Result.row(0).setTo(Scalar(0));             // The top row
-   Result.row(Result.rows-1).setTo(Scalar(0)); // The bottom row
-   Result.col(0).setTo(Scalar(0));             // The left column
-   Result.col(Result.cols-1).setTo(Scalar(0)); // The right column
+   Result.row(0).setTo(Scalar(0));               // The top row
+   Result.row(Result.rows - 1).setTo(Scalar(0)); // The bottom row
+   Result.col(0).setTo(Scalar(0));               // The left column
+   Result.col(Result.cols - 1).setTo(Scalar(0)); // The right column

 The filter2D function
 =====================
@@ -116,7 +116,7 @@ Then call the :filtering:`filter2D <filter2d>` function specifying the input, th

 .. code-block:: cpp

-   filter2D(I, K, I.depth(), kern );
+   filter2D(I, K, I.depth(), kern);

 The function even has a fifth optional argument to specify the center of the kernel, and a sixth one for determining what to do in the regions where the operation is undefined (borders). Using this function has the advantage that it's shorter, less verbose and because there are some optimization techniques implemented it is usually faster than the *hand-coded method*. For example in my test while the second one took only 13 milliseconds the first took around 31 milliseconds. Quite some difference.

@@ -45,7 +45,7 @@ All the above objects, in the end, point to the same single data matrix. Their h
   :linenos:

   Mat D (A, Rect(10, 10, 100, 100) ); // using a rectangle
-   Mat E = A(Range:all(), Range(1,3)); // using row and column boundaries
+   Mat E = A(Range::all(), Range(1,3)); // using row and column boundaries

 Now you may ask if the matrix itself may belong to multiple *Mat* objects who takes responsibility for cleaning it up when it's no longer needed. The short answer is: the last object that used it. This is handled by using a reference counting mechanism. Whenever somebody copies a header of a *Mat* object, a counter is increased for the matrix. Whenever a header is cleaned this counter is decreased. When the counter reaches zero the matrix too is freed. Sometimes you will want to copy the matrix itself too, so OpenCV provides the :basicstructures:`clone() <mat-clone>` and :basicstructures:`copyTo() <mat-copyto>` functions.

@@ -86,7 +86,7 @@ Each of the building components has their own valid domains. This leads to the d
 Creating a *Mat* object explicitly
 ==================================

-In the :ref:`Load_Save_Image` tutorial you have already learned how to write a matrix to an image file by using the :readWriteImageVideo:` imwrite() <imwrite>` function. However, for debugging purposes it's much more convenient to see the actual values. You can do this using the << operator of *Mat*. Be aware that this only works for two dimensional matrices.
+In the :ref:`Load_Save_Image` tutorial you have already learned how to write a matrix to an image file by using the :readwriteimagevideo:`imwrite() <imwrite>` function. However, for debugging purposes it's much more convenient to see the actual values. You can do this using the << operator of *Mat*. Be aware that this only works for two dimensional matrices.

 Although *Mat* works really well as an image container, it is also a general matrix class. Therefore, it is possible to create and manipulate multidimensional matrices. You can create a Mat object in multiple ways:

@@ -84,88 +84,10 @@ Code

   * **Code at glance:**

-.. code-block:: cpp
+.. literalinclude:: ../../../../../samples/cpp/tutorial_code/Histograms_Matching/compareHist_Demo.cpp
+   :language: cpp
+   :tab-width: 4

-   #include "opencv2/highgui/highgui.hpp"
-   #include "opencv2/imgproc/imgproc.hpp"
-   #include <iostream>
-   #include <stdio.h>
-
-   using namespace std;
-   using namespace cv;
-
-   /** @function main */
-   int main( int argc, char** argv )
-   {
-     Mat src_base, hsv_base;
-     Mat src_test1, hsv_test1;
-     Mat src_test2, hsv_test2;
-     Mat hsv_half_down;
-
-     /// Load three images with different environment settings
-     if( argc < 4 )
-       { printf("** Error. Usage: ./compareHist_Demo <image_settings0> <image_setting1> <image_settings2>\n");
-         return -1;
-       }
-
-     src_base = imread( argv[1], 1 );
-     src_test1 = imread( argv[2], 1 );
-     src_test2 = imread( argv[3], 1 );
-
-     /// Convert to HSV
-     cvtColor( src_base, hsv_base, CV_BGR2HSV );
-     cvtColor( src_test1, hsv_test1, CV_BGR2HSV );
-     cvtColor( src_test2, hsv_test2, CV_BGR2HSV );
-
-     hsv_half_down = hsv_base( Range( hsv_base.rows/2, hsv_base.rows - 1 ), Range( 0, hsv_base.cols - 1 ) );
-
-     /// Using 30 bins for hue and 32 for saturation
-     int h_bins = 50; int s_bins = 60;
-     int histSize[] = { h_bins, s_bins };
-
-     // hue varies from 0 to 256, saturation from 0 to 180
-     float h_ranges[] = { 0, 256 };
-     float s_ranges[] = { 0, 180 };
-
-     const float* ranges[] = { h_ranges, s_ranges };
-
-     // Use the o-th and 1-st channels
-     int channels[] = { 0, 1 };
-
-     /// Histograms
-     MatND hist_base;
-     MatND hist_half_down;
-     MatND hist_test1;
-     MatND hist_test2;
-
-     /// Calculate the histograms for the HSV images
-     calcHist( &hsv_base, 1, channels, Mat(), hist_base, 2, histSize, ranges, true, false );
-     normalize( hist_base, hist_base, 0, 1, NORM_MINMAX, -1, Mat() );
-
-     calcHist( &hsv_half_down, 1, channels, Mat(), hist_half_down, 2, histSize, ranges, true, false );
-     normalize( hist_half_down, hist_half_down, 0, 1, NORM_MINMAX, -1, Mat() );
-
-     calcHist( &hsv_test1, 1, channels, Mat(), hist_test1, 2, histSize, ranges, true, false );
-     normalize( hist_test1, hist_test1, 0, 1, NORM_MINMAX, -1, Mat() );
-
-     calcHist( &hsv_test2, 1, channels, Mat(), hist_test2, 2, histSize, ranges, true, false );
-     normalize( hist_test2, hist_test2, 0, 1, NORM_MINMAX, -1, Mat() );
-
-     /// Apply the histogram comparison methods
-     for( int i = 0; i < 4; i++ )
-        { int compare_method = i;
-          double base_base = compareHist( hist_base, hist_base, compare_method );
-          double base_half = compareHist( hist_base, hist_half_down, compare_method );
-          double base_test1 = compareHist( hist_base, hist_test1, compare_method );
-          double base_test2 = compareHist( hist_base, hist_test2, compare_method );
-
-          printf( " Method [%d] Perfect, Base-Half, Base-Test(1), Base-Test(2) : %f, %f, %f, %f \n", i, base_base, base_half , base_test1, base_test2 );
-        }
-
-     printf( "Done \n" );
-
-     return 0;
-    }


 Explanation
@@ -211,11 +133,11 @@ Explanation

   .. code-block:: cpp

-     int h_bins = 50; int s_bins = 32;
+     int h_bins = 50; int s_bins = 60;
     int histSize[] = { h_bins, s_bins };

-     float h_ranges[] = { 0, 256 };
-     float s_ranges[] = { 0, 180 };
+     float h_ranges[] = { 0, 180 };
+     float s_ranges[] = { 0, 256 };

     const float* ranges[] = { h_ranges, s_ranges };

@@ -85,7 +85,7 @@ d. **method=CV\_TM\_CCORR\_NORMED**

   .. math::

-      R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I'(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}
+      R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}


 e. **method=CV\_TM\_CCOEFF**
@@ -48,10 +48,10 @@ The structure of package contents looks as follows:

 ::

-    OpenCV-2.4.8-android-sdk
+    OpenCV-2.4.9-android-sdk
    |_ apk
-    |   |_ OpenCV_2.4.8_binary_pack_armv7a.apk
-    |   |_ OpenCV_2.4.8_Manager_2.16_XXX.apk
+    |   |_ OpenCV_2.4.9_binary_pack_armv7a.apk
+    |   |_ OpenCV_2.4.9_Manager_2.18_XXX.apk
    |
    |_ doc
    |_ samples
@@ -157,10 +157,10 @@ Get the OpenCV4Android SDK

   .. code-block:: bash

-      unzip ~/Downloads/OpenCV-2.4.8-android-sdk.zip
+      unzip ~/Downloads/OpenCV-2.4.9-android-sdk.zip

-.. |opencv_android_bin_pack| replace:: :file:`OpenCV-2.4.8-android-sdk.zip`
-.. _opencv_android_bin_pack_url: http://sourceforge.net/projects/opencvlibrary/files/opencv-android/2.4.8/OpenCV-2.4.8-android-sdk.zip/download
+.. |opencv_android_bin_pack| replace:: :file:`OpenCV-2.4.9-android-sdk.zip`
+.. _opencv_android_bin_pack_url: http://sourceforge.net/projects/opencvlibrary/files/opencv-android/2.4.9/OpenCV-2.4.9-android-sdk.zip/download
 .. |opencv_android_bin_pack_url| replace:: |opencv_android_bin_pack|
 .. |seven_zip| replace:: 7-Zip
 .. _seven_zip: http://www.7-zip.org/
@@ -295,7 +295,7 @@ Well, running samples from Eclipse is very simple:
  .. code-block:: sh
    :linenos:

-    <Android SDK path>/platform-tools/adb install <OpenCV4Android SDK path>/apk/OpenCV_2.4.8_Manager_2.16_armv7a-neon.apk
+    <Android SDK path>/platform-tools/adb install <OpenCV4Android SDK path>/apk/OpenCV_2.4.9_Manager_2.18_armv7a-neon.apk

  .. note:: ``armeabi``, ``armv7a-neon``, ``arm7a-neon-android8``, ``mips`` and ``x86`` stand for
            platform targets:
@@ -55,14 +55,14 @@ Manager to access OpenCV libraries externally installed in the target system.
   :guilabel:`File -> Import -> Existing project in your workspace`.

   Press :guilabel:`Browse`  button and locate OpenCV4Android SDK
-   (:file:`OpenCV-2.4.8-android-sdk/sdk`).
+   (:file:`OpenCV-2.4.9-android-sdk/sdk`).

   .. image:: images/eclipse_opencv_dependency0.png
        :alt: Add dependency from OpenCV library
        :align: center

 #. In application project add a reference to the OpenCV Java SDK in
-   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.8``.
+   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.9``.

   .. image:: images/eclipse_opencv_dependency1.png
        :alt: Add dependency from OpenCV library
@@ -128,27 +128,27 @@ described above.
 #. Add the OpenCV library project to your workspace the same way as for the async initialization
   above. Use menu :guilabel:`File -> Import -> Existing project in your workspace`,
   press :guilabel:`Browse` button and select OpenCV SDK path
-   (:file:`OpenCV-2.4.8-android-sdk/sdk`).
+   (:file:`OpenCV-2.4.9-android-sdk/sdk`).

   .. image:: images/eclipse_opencv_dependency0.png
        :alt: Add dependency from OpenCV library
        :align: center

 #. In the application project add a reference to the OpenCV4Android SDK in
-   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.8``;
+   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.9``;

   .. image:: images/eclipse_opencv_dependency1.png
       :alt: Add dependency from OpenCV library
       :align: center

 #. If your application project **doesn't have a JNI part**, just copy the corresponding OpenCV
-   native libs from :file:`<OpenCV-2.4.8-android-sdk>/sdk/native/libs/<target_arch>` to your
+   native libs from :file:`<OpenCV-2.4.9-android-sdk>/sdk/native/libs/<target_arch>` to your
   project directory to folder :file:`libs/<target_arch>`.

   In case of the application project **with a JNI part**, instead of manual libraries copying you
   need to modify your ``Android.mk`` file:
   add the following two code lines after the ``"include $(CLEAR_VARS)"`` and before
-   ``"include path_to_OpenCV-2.4.8-android-sdk/sdk/native/jni/OpenCV.mk"``
+   ``"include path_to_OpenCV-2.4.9-android-sdk/sdk/native/jni/OpenCV.mk"``

   .. code-block:: make
      :linenos:
@@ -221,7 +221,7 @@ taken:

   .. code-block:: make

-      include C:\Work\OpenCV4Android\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
+      include C:\Work\OpenCV4Android\OpenCV-2.4.9-android-sdk\sdk\native\jni\OpenCV.mk

   Should be inserted into the :file:`jni/Android.mk` file **after** this line:

@@ -382,7 +382,7 @@ result.
           OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_6, this, mLoaderCallback);
       }

-#. Defines that your activity implements ``CvViewFrameListener2`` interface and fix activity related
+#. Defines that your activity implements ``CvCameraViewListener2`` interface and fix activity related
   errors by defining missed methods. For this activity define ``onCreate``, ``onDestroy`` and
   ``onPause`` and implement them according code snippet bellow. Fix errors by adding requited
   imports.
@@ -432,7 +432,7 @@ result.
 Lets discuss some most important steps. Every Android application with UI must implement Activity
 and View. By the first steps we create blank activity and default view layout. The simplest
 OpenCV-centric application must implement OpenCV initialization, create its own view to show
-preview from camera and implements ``CvViewFrameListener2`` interface to get frames from camera and
+preview from camera and implements ``CvCameraViewListener2`` interface to get frames from camera and
 process it.

 First of all we create our application view using xml layout. Our layout consists of the only
@@ -25,29 +25,34 @@ Let's use a simple program such as DisplayImage.cpp shown below.

 .. code-block:: cpp

-   #include <stdio.h>
-   #include <opencv2/opencv.hpp>
+  #include <stdio.h>
+  #include <opencv2/opencv.hpp>

-   using namespace cv;
+  using namespace cv;

-   int main( int argc, char** argv )
-   {
-     Mat image;
-     image = imread( argv[1], 1 );
+  int main(int argc, char** argv )
+  {
+      if ( argc != 2 )
+      {
+          printf("usage: DisplayImage.out <Image_Path>\n");
+          return -1;
+      }

-     if( argc != 2 || !image.data )
-       {
-         printf( "No image data \n" );
-         return -1;
-       }
+      Mat image;
+      image = imread( argv[1], 1 );

-     namedWindow( "Display Image", CV_WINDOW_AUTOSIZE );
-     imshow( "Display Image", image );
+      if ( !image.data )
+      {
+          printf("No image data \n");
+          return -1;
+      }
+      namedWindow("Display Image", CV_WINDOW_AUTOSIZE );
+      imshow("Display Image", image);

-     waitKey(0);
+      waitKey(0);

-     return 0;
-   }
+      return 0;
+  }

 Create a CMake file
 ---------------------
@@ -5,7 +5,7 @@ Load, Modify, and Save an Image

 .. note::

-   We assume that by now you know how to load an image using :imread:`imread <>` and to display it in a window (using :imshow:`imshow <>`). Read the :ref:`Display_Image` tutorial otherwise.
+   We assume that by now you know how to load an image using :readwriteimagevideo:`imread <imread>` and to display it in a window (using :user_interface:`imshow <imshow>`). Read the :ref:`Display_Image` tutorial otherwise.

 Goals
 ======
@@ -14,9 +14,9 @@ In this tutorial you will learn how to:

 .. container:: enumeratevisibleitemswithsquare

-   * Load an image using :imread:`imread <>`
-   * Transform an image from BGR to Grayscale format by using :cvt_color:`cvtColor <>`
-   * Save your transformed image in a file on disk (using :imwrite:`imwrite <>`)
+   * Load an image using :readwriteimagevideo:`imread <imread>`
+   * Transform an image from BGR to Grayscale format by using :miscellaneous_transformations:`cvtColor <cvtcolor>`
+   * Save your transformed image in a file on disk (using :readwriteimagevideo:`imwrite <imwrite>`)

 Code
 ======
@@ -63,10 +63,7 @@ Here it is:
 Explanation
 ============

-#. We begin by:
-
-   * Creating a Mat object to store the image information
-   * Load an image using :imread:`imread <>`, located in the path given by *imageName*. Fort this example, assume you are loading a RGB image.
+#. We begin by loading an image using :readwriteimagevideo:`imread <imread>`, located in the path given by *imageName*. For this example, assume you are loading a RGB image.

 #. Now we are going to convert our image from BGR to Grayscale format. OpenCV has a really nice function to do this kind of transformations:

@@ -74,15 +71,15 @@ Explanation

      cvtColor( image, gray_image, CV_BGR2GRAY );

-   As you can see, :cvt_color:`cvtColor <>` takes as arguments:
+   As you can see, :miscellaneous_transformations:`cvtColor <cvtcolor>` takes as arguments:

   .. container:: enumeratevisibleitemswithsquare

      * a source image (*image*)
      * a destination image (*gray_image*), in which we will save the converted image.
-      * an additional parameter that indicates what kind of transformation will be performed. In this case we use **CV_BGR2GRAY** (because of :imread:`imread <>` has BGR default channel order in case of color images).
+      * an additional parameter that indicates what kind of transformation will be performed. In this case we use **CV_BGR2GRAY** (because of :readwriteimagevideo:`imread <imread>` has BGR default channel order in case of color images).

-#. So now we have our new *gray_image* and want to save it on disk (otherwise it will get lost after the program ends). To save it, we will use a function analagous to :imread:`imread <>`: :imwrite:`imwrite <>`
+#. So now we have our new *gray_image* and want to save it on disk (otherwise it will get lost after the program ends). To save it, we will use a function analagous to :readwriteimagevideo:`imread <imread>`: :readwriteimagevideo:`imwrite <imwrite>`

   .. code-block:: cpp

@@ -100,7 +97,7 @@ Explanation
      imshow( imageName, image );
      imshow( "Gray image", gray_image );

-#. Add add the *waitKey(0)* function call for the program to wait forever for an user key press.
+#. Add the *waitKey(0)* function call for the program to wait forever for an user key press.


 Result
@@ -81,7 +81,7 @@ Building the OpenCV library from scratch requires a couple of tools installed be

   + An IDE of choice (preferably), or just a C\C++ compiler that will actually make the binary files. Here we will use the `Microsoft Visual Studio <https://www.microsoft.com/visualstudio/en-us>`_. However, you can use any other IDE that has a valid C\C++ compiler.

-   + |CMake|_, which is a neat tool to make the project files (for your choosen IDE) from the OpenCV source files. It will also allow an easy configuration of the OpenCV build files, in order to make binary files that fits exactly to your needs.
+   + |CMake|_, which is a neat tool to make the project files (for your chosen IDE) from the OpenCV source files. It will also allow an easy configuration of the OpenCV build files, in order to make binary files that fits exactly to your needs.

   + Git to acquire the OpenCV source files. A good tool for this is |TortoiseGit|_. Alternatively, you can just download an archived version of the source files from our `page on Sourceforge <http://sourceforge.net/projects/opencvlibrary/files/opencv-win/>`_

@@ -102,7 +102,7 @@ As always, we would be happy to hear your comments and receive your contribution
   .. cssclass:: toctableopencv

   =========== =======================================================
-   |Video|     Look here in order to find use on your video stream algoritms like: motion extraction, feature tracking and foreground extractions.
+   |Video|     Look here in order to find use on your video stream algorithms like: motion extraction, feature tracking and foreground extractions.

   =========== =======================================================

@@ -186,6 +186,21 @@ As always, we would be happy to hear your comments and receive your contribution
                    :width:  80pt
                    :alt: gpu icon

+*  :ref:`Table-Of-Content-Viz`
+
+   .. tabularcolumns:: m{100pt} m{300pt}
+   .. cssclass:: toctableopencv
+
+   =========== =======================================================
+      |Viz|     These tutorials show how to use Viz module effectively.
+
+   =========== =======================================================
+
+     .. |Viz| image:: images/viz.jpg
+                   :height: 80pt
+                   :width:  80pt
+                   :alt: viz icon
+
 *  :ref:`Table-Of-Content-General`

      .. tabularcolumns:: m{100pt} m{300pt}
@@ -221,4 +236,5 @@ As always, we would be happy to hear your comments and receive your contribution
   gpu/table_of_content_gpu/table_of_content_gpu
   contrib/table_of_content_contrib/table_of_content_contrib
   ios/table_of_content_ios/table_of_content_ios
+   viz/table_of_content_viz/table_of_content_viz
   general/table_of_content_general/table_of_content_general
@@ -3,7 +3,7 @@
 *video* module. Video analysis
 -----------------------------------------------------------

-Look here in order to find use on your video stream algoritms like: motion extraction, feature tracking and foreground extractions.
+Look here in order to find use on your video stream algorithms like: motion extraction, feature tracking and foreground extractions.

 .. include:: ../../definitions/noContent.rst

@@ -0,0 +1,159 @@
+.. _creating_widgets:
+
+Creating Widgets
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Create your own widgets using WidgetAccessor and VTK.
+  * Show your widget in the visualization window.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/creating_widgets.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/viz/widget_accessor.hpp>
+    #include <iostream>
+
+    #include <vtkPoints.h>
+    #include <vtkTriangle.h>
+    #include <vtkCellArray.h>
+    #include <vtkPolyData.h>
+    #include <vtkPolyDataMapper.h>
+    #include <vtkIdList.h>
+    #include <vtkActor.h>
+    #include <vtkProp.h>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @class WTriangle
+     * @brief Defining our own 3D Triangle widget
+     */
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+    /**
+     * @function WTriangle::WTriangle
+     */
+    WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
+    {
+        // Create a triangle
+        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+        points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
+        points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
+        points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
+
+        vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
+        triangle->GetPointIds()->SetId(0,0);
+        triangle->GetPointIds()->SetId(1,1);
+        triangle->GetPointIds()->SetId(2,2);
+
+        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+        cells->InsertNextCell(triangle);
+
+        // Create a polydata object
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+
+        // Add the geometry and topology to the polydata
+        polyData->SetPoints(points);
+        polyData->SetPolys(cells);
+
+        // Create mapper and actor
+        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    #if VTK_MAJOR_VERSION <= 5
+        mapper->SetInput(polyData);
+    #else
+        mapper->SetInputData(polyData);
+    #endif
+
+        vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+        actor->SetMapper(mapper);
+
+        // Store this actor in the widget in order that visualizer can access it
+        viz::WidgetAccessor::setProp(*this, actor);
+
+        // Set the color of the widget. This has to be called after WidgetAccessor.
+        setColor(color);
+    }
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Creating Widgets");
+
+        /// Create a triangle widget
+        WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+        /// Show widget in the visualizer window
+        myWindow.showWidget("TRIANGLE", tw);
+
+        /// Start event loop
+        myWindow.spin();
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Extend Widget3D class to create a new 3D widget.
+
+.. code-block:: cpp
+
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+* Assign a VTK actor to the widget.
+
+.. code-block:: cpp
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+
+* Set color of the widget.
+
+.. code-block:: cpp
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+
+* Construct a triangle widget and display it in the window.
+
+.. code-block:: cpp
+
+    /// Create a triangle widget
+    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/red_triangle.png
+    :alt: Creating Widgets
+    :align: center
@@ -0,0 +1,118 @@
+.. _launching_viz:
+
+Launching Viz
+*************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Open a visualization window.
+  * Access a window by its name.
+  * Start event loop.
+  * Start event loop for a given amount of time.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+    * @function main
+    */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Viz Demo");
+
+        /// Start event loop
+        myWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "First event loop is over" << endl;
+
+        /// Access window via its name
+        viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
+
+        /// Start event loop
+        sameWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "Second event loop is over" << endl;
+
+        /// Event loop is over when pressed q, Q, e, E
+        /// Start event loop once for 1 millisecond
+        sameWindow.spinOnce(1, true);
+        while(!sameWindow.wasStopped())
+        {
+            /// Interact with window
+
+            /// Event loop for 1 millisecond
+            sameWindow.spinOnce(1, true);
+        }
+
+        /// Once more event loop is stopped
+        cout << "Last event loop is over" << endl;
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+
+* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
+
+.. code-block:: cpp
+
+    /// Start event loop
+    myWindow.spin();
+
+* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
+
+.. code-block:: cpp
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::get("Viz Demo");
+
+* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
+
+.. code-block:: cpp
+
+    /// Event loop is over when pressed q, Q, e, E
+    /// Start event loop once for 1 millisecond
+    sameWindow.spinOnce(1, true);
+    while(!sameWindow.wasStopped())
+    {
+        /// Interact with window
+
+        /// Event loop for 1 millisecond
+        sameWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/window_demo.png
+    :alt: Launching Viz
+    :align: center
@@ -0,0 +1,94 @@
+.. _Table-Of-Content-Viz:
+
+**OpenCV Viz**
+-----------------------------------------------------------
+
+.. include:: ../../definitions/tocDefinitions.rst
+
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================== ===============================================================================
+   |VizLaunchingViz|   **Title:** :ref:`launching_viz`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to launch a viz window.
+
+  ================== ===============================================================================
+
+  .. |VizLaunchingViz| image:: ../launching_viz/images/window_demo.png
+                         :height: 120pt
+                         :width:  90pt
+
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================ ============================================================================
+    |WidgetPose|    **Title:** :ref:`widget_pose`
+
+                    *Compatibility:* > OpenCV 3.0.0
+
+                    *Author:* Ozan Tonkal
+
+                    You will learn how to change pose of a widget.
+
+  ================ ============================================================================
+
+  .. |WidgetPose|  image:: ../widget_pose/images/widgetpose.png
+                        :height: 90pt
+                        :width:  90pt
+
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |Transformations|   **Title:** :ref:`transformations`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to transform between global and camera frames.
+
+  ==================  ============================================================================
+
+  .. |Transformations| image:: ../transformations/images/global_view_point.png
+                           :height: 120pt
+                           :width:  90pt
+
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |CreatingWidgets|   **Title:** :ref:`creating_widgets`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to create your own widgets.
+
+  ==================  ============================================================================
+
+  .. |CreatingWidgets| image:: ../creating_widgets/images/red_triangle.png
+                            :height: 120pt
+                            :width:  90pt
+
+.. raw:: latex
+
+   \pagebreak
+
+.. toctree::
+   :hidden:
+
+   ../launching_viz/launching_viz
+   ../widget_pose/widget_pose
+   ../transformations/transformations
+   ../creating_widgets/creating_widgets
@@ -0,0 +1,202 @@
+.. _transformations:
+
+Transformations
+***************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * How to use makeTransformToGlobal to compute pose
+  * How to use makeCameraPose and Viz3d::setViewerPose
+  * How to visualize camera position by axes and by viewing frustum
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/transformations.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+    #include <fstream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function cvcloud_load
+     * @brief load bunny.ply
+     */
+    Mat cvcloud_load()
+    {
+        Mat cloud(1, 1889, CV_32FC3);
+        ifstream ifs("bunny.ply");
+
+        string str;
+        for(size_t i = 0; i < 12; ++i)
+            getline(ifs, str);
+
+        Point3f* data = cloud.ptr<cv::Point3f>();
+        float dummy1, dummy2;
+        for(size_t i = 0; i < 1889; ++i)
+            ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+        cloud *= 5.0f;
+        return cloud;
+    }
+
+    /**
+     * @function main
+     */
+    int main(int argn, char **argv)
+    {
+        if (argn < 2)
+        {
+            cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
+            return 1;
+        }
+
+        bool camera_pov = (argv[1][0] == 'C');
+
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+        /// Let's assume camera has the following properties
+        Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+        /// We can get the pose of the cam using makeCameraPose
+        Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+        /// We can get the transformation matrix from camera coordinate system to global using
+        /// - makeTransformToGlobal. We need the axes of the camera
+        Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+        /// Create a cloud widget.
+        Mat bunny_cloud = cvcloud_load();
+        viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+        /// Pose of the widget in camera frame
+        Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+        /// Pose of the widget in global frame
+        Affine3f cloud_pose_global = transform * cloud_pose;
+
+        /// Visualize camera frame
+        if (!camera_pov)
+        {
+            viz::WCameraPosition cpw(0.5); // Coordinate axes
+            viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+            myWindow.showWidget("CPW", cpw, cam_pose);
+            myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+        }
+
+        /// Visualize widget
+        myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+        /// Set the viewer pose to that of camera
+        if (camera_pov)
+            myWindow.setViewerPose(cam_pose);
+
+        /// Start event loop.
+        myWindow.spin();
+
+        return 0;
+    }
+
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Transformations");
+
+* Get camera pose from camera position, camera focal point and y direction.
+
+.. code-block:: cpp
+
+    /// Let's assume camera has the following properties
+    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+* Obtain transform matrix knowing the axes of camera coordinate system.
+
+.. code-block:: cpp
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+* Create a cloud widget from bunny.ply file
+
+.. code-block:: cpp
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+* Given the pose in camera coordinate system, estimate the global pose.
+
+.. code-block:: cpp
+
+    /// Pose of the widget in camera frame
+    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+    /// Pose of the widget in global frame
+    Affine3f cloud_pose_global = transform * cloud_pose;
+
+* If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
+
+.. code-block:: cpp
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+* Visualize the cloud widget with the estimated global pose
+
+.. code-block:: cpp
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+* If the view point is set to be camera's, set viewer pose to **cam_pose**.
+
+.. code-block:: cpp
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+Results
+=======
+
+#. Here is the result from the camera point of view.
+
+    .. image:: images/camera_view_point.png
+        :alt: Camera Viewpoint
+        :align: center
+
+#. Here is the result from global point of view.
+
+    .. image:: images/global_view_point.png
+        :alt: Global Viewpoint
+        :align: center
@@ -0,0 +1,162 @@
+.. _widget_pose:
+
+Pose of a widget
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Add widgets to the visualization window
+  * Use Affine3 to set pose of a widget
+  * Rotating and translating a widget along an axis
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/calib3d/calib3d.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+        /// Add line to represent (1,1,1) axis
+        viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+        axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+        myWindow.showWidget("Line Widget", axis);
+
+        /// Construct a cube widget
+        viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+        cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+
+        /// Display widget (update if already displayed)
+        myWindow.showWidget("Cube Widget", cube_widget);
+
+        /// Rodrigues vector
+        Mat rot_vec = Mat::zeros(1,3,CV_32F);
+        float translation_phase = 0.0, translation = 0.0;
+        while(!myWindow.wasStopped())
+        {
+            /* Rotation using rodrigues */
+            /// Rotate around (1,1,1)
+            rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+            rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+            rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+            /// Shift on (1,1,1)
+            translation_phase += CV_PI * 0.01f;
+            translation = sin(translation_phase);
+
+            Mat rot_mat;
+            Rodrigues(rot_vec, rot_mat);
+
+            /// Construct pose
+            Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+            myWindow.setWidgetPose("Cube Widget", pose);
+
+            myWindow.spinOnce(1, true);
+        }
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+* Show coordinate axes in the window using CoordinateSystemWidget.
+
+.. code-block:: cpp
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+* Display a line representing the axis (1,1,1).
+
+.. code-block:: cpp
+
+    /// Add line to represent (1,1,1) axis
+    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+
+* Construct a cube.
+
+.. code-block:: cpp
+
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Cube Widget", cube_widget);
+
+* Create rotation matrix from rodrigues vector
+
+.. code-block:: cpp
+
+    /// Rotate around (1,1,1)
+    rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+    rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+    rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+    ...
+
+    Mat rot_mat;
+    Rodrigues(rot_vec, rot_mat);
+
+* Use Affine3f to set pose of the cube.
+
+.. code-block:: cpp
+
+    /// Construct pose
+    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+    myWindow.setWidgetPose("Cube Widget", pose);
+
+* Animate the rotation using wasStopped and spinOnce
+
+.. code-block:: cpp
+
+    while(!myWindow.wasStopped())
+    {
+        ...
+
+        myWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. raw:: html
+
+  <div align="center">
+  <iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
+  </div>
@@ -58,7 +58,7 @@ SET_TARGET_PROPERTIES(${the_target} PROPERTIES
                      RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
                      )

-if (NOT (CMAKE_BUILD_TYPE MATCHES "debug"))
+if (NOT (CMAKE_BUILD_TYPE MATCHES "Debug"))
    ADD_CUSTOM_COMMAND( TARGET ${the_target} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${LIBRARY_OUTPUT_PATH}/lib${the_target}.so" )
 endif()

@@ -61,6 +61,12 @@

 using namespace android;

+// non-public camera related classes are not binary compatible
+// objects of these classes have different sizeof on different platforms
+// additional memory tail to all system objects to overcome sizeof issue
+#define MAGIC_TAIL 4096
+
+
 void debugShowFPS();

 #if defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
@@ -90,6 +96,7 @@ public:
 };
 #endif

+
 std::string getProcessName()
 {
    std::string result;
@@ -142,12 +149,22 @@ class CameraHandler: public CameraListener
 protected:
    int cameraId;
    sp<Camera> camera;
-    CameraParameters params;
+#if defined(ANDROID_r3_0_1) || defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3)
+    sp<SurfaceTexture> surface;
+#endif
+#if defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
+    sp<BufferQueue> queue;
+    sp<ConsumerListenerStub> listener;
+#endif
+    CameraParameters* params;
    CameraCallback cameraCallback;
    void* userData;

    int emptyCameraCallbackReported;

+    int width;
+    int height;
+
    static const char* flashModesNames[ANDROID_CAMERA_FLASH_MODES_NUM];
    static const char* focusModesNames[ANDROID_CAMERA_FOCUS_MODES_NUM];
    static const char* whiteBalanceModesNames[ANDROID_CAMERA_WHITE_BALANCE_MODES_NUM];
@@ -258,7 +275,7 @@ protected:

    int is_supported(const char* supp_modes_key, const char* mode)
    {
-        const char* supported_modes = params.get(supp_modes_key);
+        const char* supported_modes = params->get(supp_modes_key);
        return (supported_modes && mode && (strstr(supported_modes, mode) > 0));
    }

@@ -268,7 +285,7 @@ protected:
        if (focus_distance_type >= 0 && focus_distance_type < 3)
    {
            float focus_distances[3];
-            const char* output = params.get(CameraParameters::KEY_FOCUS_DISTANCES);
+            const char* output = params->get(CameraParameters::KEY_FOCUS_DISTANCES);
            int val_num = CameraHandler::split_float(output, focus_distances, ',', 3);
            if(val_num == 3)
        {
@@ -300,10 +317,15 @@ public:
        emptyCameraCallbackReported(0)
    {
        LOGD("Instantiated new CameraHandler (%p, %p)", callback, _userData);
+        void* params_buffer = operator new(sizeof(CameraParameters) + MAGIC_TAIL);
+        params = new(params_buffer) CameraParameters();
    }

    virtual ~CameraHandler()
    {
+        if (params)
+            params->~CameraParameters();
+            operator delete(params);
        LOGD("CameraHandler destructor is called");
    }

@@ -371,10 +393,18 @@ const char* CameraHandler::focusModesNames[ANDROID_CAMERA_FOCUS_MODES_NUM] =
    CameraParameters::FOCUS_MODE_AUTO,
 #if !defined(ANDROID_r2_2_0)
    CameraParameters::FOCUS_MODE_CONTINUOUS_VIDEO,
+#else
+    CameraParameters::FOCUS_MODE_AUTO,
 #endif
    CameraParameters::FOCUS_MODE_EDOF,
    CameraParameters::FOCUS_MODE_FIXED,
-    CameraParameters::FOCUS_MODE_INFINITY
+    CameraParameters::FOCUS_MODE_INFINITY,
+    CameraParameters::FOCUS_MODE_MACRO,
+#if !defined(ANDROID_r2_2_0) && !defined(ANDROID_r2_3_3) && !defined(ANDROID_r3_0_1)
+    CameraParameters::FOCUS_MODE_CONTINUOUS_PICTURE
+#else
+    CameraParameters::FOCUS_MODE_AUTO
+#endif
 };

 const char* CameraHandler::whiteBalanceModesNames[ANDROID_CAMERA_WHITE_BALANCE_MODES_NUM] =
@@ -534,39 +564,39 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
    {
        LOGI("initCameraConnect: Setting paramers from previous camera handler");
        camera->setParameters(prevCameraParameters->flatten());
-        handler->params.unflatten(prevCameraParameters->flatten());
+        handler->params->unflatten(prevCameraParameters->flatten());
    }
    else
    {
        android::String8 params_str = camera->getParameters();
        LOGI("initCameraConnect: [%s]", params_str.string());

-        handler->params.unflatten(params_str);
+        handler->params->unflatten(params_str);

-        LOGD("Supported Cameras: %s", handler->params.get("camera-indexes"));
-        LOGD("Supported Picture Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
-        LOGD("Supported Picture Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
-        LOGD("Supported Preview Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
-        LOGD("Supported Preview Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
-        LOGD("Supported Preview Frame Rates: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
-        LOGD("Supported Thumbnail Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
-        LOGD("Supported Whitebalance Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
-        LOGD("Supported Effects: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_EFFECTS));
-        LOGD("Supported Scene Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
-        LOGD("Supported Focus Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
-        LOGD("Supported Antibanding Options: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
-        LOGD("Supported Flash Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));
+        LOGD("Supported Cameras: %s", handler->params->get("camera-indexes"));
+        LOGD("Supported Picture Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
+        LOGD("Supported Picture Formats: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
+        LOGD("Supported Preview Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
+        LOGD("Supported Preview Formats: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
+        LOGD("Supported Preview Frame Rates: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
+        LOGD("Supported Thumbnail Sizes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
+        LOGD("Supported Whitebalance Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
+        LOGD("Supported Effects: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_EFFECTS));
+        LOGD("Supported Scene Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
+        LOGD("Supported Focus Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
+        LOGD("Supported Antibanding Options: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
+        LOGD("Supported Flash Modes: %s", handler->params->get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));

 #if !defined(ANDROID_r2_2_0)
        // Set focus mode to continuous-video if supported
-        const char* available_focus_modes = handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES);
+        const char* available_focus_modes = handler->params->get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES);
        if (available_focus_modes != 0)
        {
            if (strstr(available_focus_modes, "continuous-video") != NULL)
            {
-                handler->params.set(CameraParameters::KEY_FOCUS_MODE, CameraParameters::FOCUS_MODE_CONTINUOUS_VIDEO);
+                handler->params->set(CameraParameters::KEY_FOCUS_MODE, CameraParameters::FOCUS_MODE_CONTINUOUS_VIDEO);

-                status_t resParams = handler->camera->setParameters(handler->params.flatten());
+                status_t resParams = handler->camera->setParameters(handler->params->flatten());

                if (resParams != 0)
                {
@@ -581,7 +611,7 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
 #endif

        //check if yuv420sp format available. Set this format as preview format.
-        const char* available_formats = handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
+        const char* available_formats = handler->params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
        if (available_formats != 0)
        {
            const char* format_to_set = 0;
@@ -607,9 +637,9 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,

            if (0 != format_to_set)
            {
-                handler->params.setPreviewFormat(format_to_set);
+                handler->params->setPreviewFormat(format_to_set);

-                status_t resParams = handler->camera->setParameters(handler->params.flatten());
+                status_t resParams = handler->camera->setParameters(handler->params->flatten());

                if (resParams != 0)
                    LOGE("initCameraConnect: failed to set preview format to %s", format_to_set);
@@ -617,6 +647,13 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
                    LOGD("initCameraConnect: preview format is set to %s", format_to_set);
            }
        }
+
+        handler->params->setPreviewSize(640, 480);
+        status_t resParams = handler->camera->setParameters(handler->params->flatten());
+        if (resParams != 0)
+            LOGE("initCameraConnect: failed to set preview resolution to 640x480");
+        else
+            LOGD("initCameraConnect: preview format is set to 640x480");
    }

    status_t bufferStatus;
@@ -627,22 +664,27 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
 #elif defined(ANDROID_r2_3_3)
    /* Do nothing in case of 2.3 for now */
 #elif defined(ANDROID_r3_0_1) || defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3)
-    sp<SurfaceTexture> surfaceTexture = new SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
-    bufferStatus = camera->setPreviewTexture(surfaceTexture);
+    void* surface_texture_obj = operator new(sizeof(SurfaceTexture) + MAGIC_TAIL);
+    handler->surface = new(surface_texture_obj) SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
+    bufferStatus = camera->setPreviewTexture(handler->surface);
    if (bufferStatus != 0)
        LOGE("initCameraConnect: failed setPreviewTexture call (status %d); camera might not work correctly", bufferStatus);
 #elif defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
-    sp<BufferQueue> bufferQueue = new BufferQueue();
-    sp<BufferQueue::ConsumerListener> queueListener = new ConsumerListenerStub();
-    bufferQueue->consumerConnect(queueListener);
-    bufferStatus = camera->setPreviewTexture(bufferQueue);
+    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
+    handler->queue = new(buffer_queue_obj) BufferQueue();
+    void* consumer_listener_obj = operator new(sizeof(ConsumerListenerStub) + MAGIC_TAIL);
+    handler->listener = new(consumer_listener_obj) ConsumerListenerStub();
+    handler->queue->consumerConnect(handler->listener);
+    bufferStatus = camera->setPreviewTexture(handler->queue);
    if (bufferStatus != 0)
        LOGE("initCameraConnect: failed setPreviewTexture call; camera might not work correctly");
 # elif defined(ANDROID_r4_4_0)
-    sp<BufferQueue> bufferQueue = new BufferQueue();
-    sp<IConsumerListener> queueListener = new ConsumerListenerStub();
-    bufferQueue->consumerConnect(queueListener, true);
-    bufferStatus = handler->camera->setPreviewTarget(bufferQueue);
+    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
+    handler->queue = new(buffer_queue_obj) BufferQueue();
+    void* consumer_listener_obj = operator new(sizeof(ConsumerListenerStub) + MAGIC_TAIL);
+    handler->listener = new(consumer_listener_obj) ConsumerListenerStub();
+    handler->queue->consumerConnect(handler->listener, true);
+    bufferStatus = handler->camera->setPreviewTarget(handler->queue);
    if (bufferStatus != 0)
        LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
 # endif
@@ -723,18 +765,18 @@ double CameraHandler::getProperty(int propIdx)
    case ANDROID_CAMERA_PROPERTY_FRAMEWIDTH:
    {
        int w,h;
-        params.getPreviewSize(&w, &h);
+        params->getPreviewSize(&w, &h);
        return w;
    }
    case ANDROID_CAMERA_PROPERTY_FRAMEHEIGHT:
    {
        int w,h;
-        params.getPreviewSize(&w, &h);
+        params->getPreviewSize(&w, &h);
        return h;
    }
    case ANDROID_CAMERA_PROPERTY_SUPPORTED_PREVIEW_SIZES_STRING:
    {
-        cameraPropertySupportedPreviewSizesString = params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES);
+        cameraPropertySupportedPreviewSizesString = params->get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES);
        union {const char* str;double res;} u;
        memset(&u.res, 0, sizeof(u.res));
        u.str = cameraPropertySupportedPreviewSizesString.c_str();
@@ -742,7 +784,7 @@ double CameraHandler::getProperty(int propIdx)
    }
    case ANDROID_CAMERA_PROPERTY_PREVIEW_FORMAT_STRING:
    {
-        const char* fmt = params.get(CameraParameters::KEY_PREVIEW_FORMAT);
+        const char* fmt = params->get(CameraParameters::KEY_PREVIEW_FORMAT);
        if (fmt == CameraParameters::PIXEL_FORMAT_YUV422SP)
            fmt = "yuv422sp";
        else if (fmt == CameraParameters::PIXEL_FORMAT_YUV420SP)
@@ -762,44 +804,44 @@ double CameraHandler::getProperty(int propIdx)
    }
    case ANDROID_CAMERA_PROPERTY_EXPOSURE:
    {
-        int exposure = params.getInt(CameraParameters::KEY_EXPOSURE_COMPENSATION);
+        int exposure = params->getInt(CameraParameters::KEY_EXPOSURE_COMPENSATION);
        return exposure;
    }
    case ANDROID_CAMERA_PROPERTY_FPS:
    {
-        return params.getPreviewFrameRate();
+        return params->getPreviewFrameRate();
    }
    case ANDROID_CAMERA_PROPERTY_FLASH_MODE:
    {
        int flash_mode = getModeNum(CameraHandler::flashModesNames,
                                    ANDROID_CAMERA_FLASH_MODES_NUM,
-                                    params.get(CameraParameters::KEY_FLASH_MODE));
+                                    params->get(CameraParameters::KEY_FLASH_MODE));
        return flash_mode;
    }
    case ANDROID_CAMERA_PROPERTY_FOCUS_MODE:
    {
        int focus_mode = getModeNum(CameraHandler::focusModesNames,
                                    ANDROID_CAMERA_FOCUS_MODES_NUM,
-                                    params.get(CameraParameters::KEY_FOCUS_MODE));
+                                    params->get(CameraParameters::KEY_FOCUS_MODE));
        return focus_mode;
    }
    case ANDROID_CAMERA_PROPERTY_WHITE_BALANCE:
    {
        int white_balance = getModeNum(CameraHandler::whiteBalanceModesNames,
                                       ANDROID_CAMERA_WHITE_BALANCE_MODES_NUM,
-                                       params.get(CameraParameters::KEY_WHITE_BALANCE));
+                                       params->get(CameraParameters::KEY_WHITE_BALANCE));
        return white_balance;
    }
    case ANDROID_CAMERA_PROPERTY_ANTIBANDING:
    {
        int antibanding = getModeNum(CameraHandler::antibandingModesNames,
                                     ANDROID_CAMERA_ANTIBANDING_MODES_NUM,
-                                     params.get(CameraParameters::KEY_ANTIBANDING));
+                                     params->get(CameraParameters::KEY_ANTIBANDING));
        return antibanding;
    }
    case ANDROID_CAMERA_PROPERTY_FOCAL_LENGTH:
    {
-        float focal_length = params.getFloat(CameraParameters::KEY_FOCAL_LENGTH);
+        float focal_length = params->getFloat(CameraParameters::KEY_FOCAL_LENGTH);
        return focal_length;
    }
    case ANDROID_CAMERA_PROPERTY_FOCUS_DISTANCE_NEAR:
@@ -814,6 +856,24 @@ double CameraHandler::getProperty(int propIdx)
    {
        return getFocusDistance(ANDROID_CAMERA_FOCUS_DISTANCE_FAR_INDEX);
    }
+#if !defined(ANDROID_r2_2_0) && !defined(ANDROID_r2_3_3) && !defined(ANDROID_r3_0_1)
+    case ANDROID_CAMERA_PROPERTY_WHITEBALANCE_LOCK:
+    {
+        const char* status = params->get(CameraParameters::KEY_AUTO_WHITEBALANCE_LOCK);
+        if (status == CameraParameters::TRUE)
+            return 1.;
+        else
+            return 0.;
+    }
+    case ANDROID_CAMERA_PROPERTY_EXPOSE_LOCK:
+    {
+        const char* status = params->get(CameraParameters::KEY_AUTO_EXPOSURE_LOCK);
+        if (status == CameraParameters::TRUE)
+            return 1.;
+        else
+            return 0.;
+    }
+#endif
    default:
        LOGW("CameraHandler::getProperty - Unsupported property.");
    };
@@ -824,99 +884,151 @@ void CameraHandler::setProperty(int propIdx, double value)
 {
    LOGD("CameraHandler::setProperty(%d, %f)", propIdx, value);

+    android::String8 params_str;
+    params_str = camera->getParameters();
+    LOGI("Params before set: [%s]", params_str.string());
+
    switch (propIdx)
    {
    case ANDROID_CAMERA_PROPERTY_FRAMEWIDTH:
    {
        int w,h;
-        params.getPreviewSize(&w, &h);
-        w = (int)value;
-        params.setPreviewSize(w, h);
+        params->getPreviewSize(&w, &h);
+        width = (int)value;
    }
    break;
    case ANDROID_CAMERA_PROPERTY_FRAMEHEIGHT:
    {
        int w,h;
-        params.getPreviewSize(&w, &h);
-        h = (int)value;
-        params.setPreviewSize(w, h);
+        params->getPreviewSize(&w, &h);
+        height = (int)value;
    }
    break;
    case ANDROID_CAMERA_PROPERTY_EXPOSURE:
    {
-        int max_exposure = params.getInt("max-exposure-compensation");
-        int min_exposure = params.getInt("min-exposure-compensation");
-        if(max_exposure && min_exposure){
+        int max_exposure = params->getInt("max-exposure-compensation");
+        int min_exposure = params->getInt("min-exposure-compensation");
+        if(max_exposure && min_exposure)
+        {
            int exposure = (int)value;
-            if(exposure >= min_exposure && exposure <= max_exposure){
-                params.set("exposure-compensation", exposure);
-            } else {
+            if(exposure >= min_exposure && exposure <= max_exposure)
+                params->set("exposure-compensation", exposure);
+            else
                LOGE("Exposure compensation not in valid range (%i,%i).", min_exposure, max_exposure);
-            }
-        } else {
+        } else
            LOGE("Exposure compensation adjust is not supported.");
-        }
+
+        camera->setParameters(params->flatten());
    }
    break;
    case ANDROID_CAMERA_PROPERTY_FLASH_MODE:
    {
        int new_val = (int)value;
-        if(new_val >= 0 && new_val < ANDROID_CAMERA_FLASH_MODES_NUM){
+        if(new_val >= 0 && new_val < ANDROID_CAMERA_FLASH_MODES_NUM)
+        {
            const char* mode_name = flashModesNames[new_val];
            if(is_supported(CameraParameters::KEY_SUPPORTED_FLASH_MODES, mode_name))
-                params.set(CameraParameters::KEY_FLASH_MODE, mode_name);
+                params->set(CameraParameters::KEY_FLASH_MODE, mode_name);
            else
                LOGE("Flash mode %s is not supported.", mode_name);
-        } else {
-            LOGE("Flash mode value not in valid range.");
        }
+        else
+            LOGE("Flash mode value not in valid range.");
+
+        camera->setParameters(params->flatten());
    }
    break;
    case ANDROID_CAMERA_PROPERTY_FOCUS_MODE:
    {
        int new_val = (int)value;
-        if(new_val >= 0 && new_val < ANDROID_CAMERA_FOCUS_MODES_NUM){
+        if(new_val >= 0 && new_val < ANDROID_CAMERA_FOCUS_MODES_NUM)
+        {
            const char* mode_name = focusModesNames[new_val];
            if(is_supported(CameraParameters::KEY_SUPPORTED_FOCUS_MODES, mode_name))
-                params.set(CameraParameters::KEY_FOCUS_MODE, mode_name);
+                params->set(CameraParameters::KEY_FOCUS_MODE, mode_name);
            else
                LOGE("Focus mode %s is not supported.", mode_name);
-        } else {
-            LOGE("Focus mode value not in valid range.");
        }
+        else
+            LOGE("Focus mode value not in valid range.");
+
+        camera->setParameters(params->flatten());
    }
    break;
    case ANDROID_CAMERA_PROPERTY_WHITE_BALANCE:
    {
        int new_val = (int)value;
-        if(new_val >= 0 && new_val < ANDROID_CAMERA_WHITE_BALANCE_MODES_NUM){
+        if(new_val >= 0 && new_val < ANDROID_CAMERA_WHITE_BALANCE_MODES_NUM)
+        {
            const char* mode_name = whiteBalanceModesNames[new_val];
            if(is_supported(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE, mode_name))
-                params.set(CameraParameters::KEY_WHITE_BALANCE, mode_name);
+                params->set(CameraParameters::KEY_WHITE_BALANCE, mode_name);
            else
                LOGE("White balance mode %s is not supported.", mode_name);
-        } else {
-            LOGE("White balance mode value not in valid range.");
        }
+        else
+            LOGE("White balance mode value not in valid range.");
+
+        camera->setParameters(params->flatten());
    }
    break;
    case ANDROID_CAMERA_PROPERTY_ANTIBANDING:
    {
        int new_val = (int)value;
-        if(new_val >= 0 && new_val < ANDROID_CAMERA_ANTIBANDING_MODES_NUM){
+        if(new_val >= 0 && new_val < ANDROID_CAMERA_ANTIBANDING_MODES_NUM)
+        {
            const char* mode_name = antibandingModesNames[new_val];
            if(is_supported(CameraParameters::KEY_SUPPORTED_ANTIBANDING, mode_name))
-                params.set(CameraParameters::KEY_ANTIBANDING, mode_name);
+                params->set(CameraParameters::KEY_ANTIBANDING, mode_name);
            else
                LOGE("Antibanding mode %s is not supported.", mode_name);
-        } else {
-            LOGE("Antibanding mode value not in valid range.");
        }
+        else
+            LOGE("Antibanding mode value not in valid range.");
+
+        camera->setParameters(params->flatten());
    }
    break;
+#if !defined(ANDROID_r2_2_0) && !defined(ANDROID_r2_3_3) && !defined(ANDROID_r3_0_1)
+    case ANDROID_CAMERA_PROPERTY_EXPOSE_LOCK:
+    {
+        if (is_supported(CameraParameters::KEY_AUTO_EXPOSURE_LOCK_SUPPORTED, "true"))
+        {
+            if (value != 0)
+                params->set(CameraParameters::KEY_AUTO_EXPOSURE_LOCK, CameraParameters::TRUE);
+            else
+                params->set(CameraParameters::KEY_AUTO_EXPOSURE_LOCK, CameraParameters::FALSE);
+            LOGE("Expose lock is set");
+        }
+        else
+            LOGE("Expose lock is not supported");
+
+        camera->setParameters(params->flatten());
+    }
+    break;
+    case ANDROID_CAMERA_PROPERTY_WHITEBALANCE_LOCK:
+    {
+        if (is_supported(CameraParameters::KEY_AUTO_WHITEBALANCE_LOCK_SUPPORTED, "true"))
+        {
+            if (value != 0)
+                params->set(CameraParameters::KEY_AUTO_WHITEBALANCE_LOCK, CameraParameters::TRUE);
+            else
+                params->set(CameraParameters::KEY_AUTO_WHITEBALANCE_LOCK, CameraParameters::FALSE);
+            LOGE("White balance lock is set");
+        }
+        else
+            LOGE("White balance lock is not supported");
+
+        camera->setParameters(params->flatten());
+    }
+    break;
+#endif
    default:
        LOGW("CameraHandler::setProperty - Unsupported property.");
    };
+
+    params_str = camera->getParameters();
+    LOGI("Params after set: [%s]", params_str.string());
 }

 void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
@@ -935,7 +1047,10 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
        return;
    }

-    CameraParameters curCameraParameters((*ppcameraHandler)->params.flatten());
+    // delayed resolution setup to exclude errors during other parameres setup on the fly
+    // without camera restart
+    if (((*ppcameraHandler)->width != 0) && ((*ppcameraHandler)->height != 0))
+        (*ppcameraHandler)->params->setPreviewSize((*ppcameraHandler)->width, (*ppcameraHandler)->height);

 #if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) \
 || defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
@@ -951,27 +1066,27 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
        return;
    }

-    handler->camera->setParameters(curCameraParameters.flatten());
-    handler->params.unflatten(curCameraParameters.flatten());
+    handler->camera->setParameters((*ppcameraHandler)->params->flatten());

    status_t bufferStatus;
 # if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3)
-    sp<SurfaceTexture> surfaceTexture = new SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
-    bufferStatus = handler->camera->setPreviewTexture(surfaceTexture);
+    void* surface_texture_obj = operator new(sizeof(SurfaceTexture) + MAGIC_TAIL);
+    handler->surface = new(surface_texture_obj) SurfaceTexture(MAGIC_OPENCV_TEXTURE_ID);
+    bufferStatus = handler->camera->setPreviewTexture(handler->surface);
    if (bufferStatus != 0)
        LOGE("applyProperties: failed setPreviewTexture call (status %d); camera might not work correctly", bufferStatus);
 # elif defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
-    sp<BufferQueue> bufferQueue = new BufferQueue();
-    sp<BufferQueue::ConsumerListener> queueListener = new ConsumerListenerStub();
-    bufferQueue->consumerConnect(queueListener);
-    bufferStatus = handler->camera->setPreviewTexture(bufferQueue);
+    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
+    handler->queue = new(buffer_queue_obj) BufferQueue();
+    handler->queue->consumerConnect(handler->listener);
+    bufferStatus = handler->camera->setPreviewTexture(handler->queue);
    if (bufferStatus != 0)
        LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
 # elif defined(ANDROID_r4_4_0)
-    sp<BufferQueue> bufferQueue = new BufferQueue();
-    sp<IConsumerListener> queueListener = new ConsumerListenerStub();
-    bufferQueue->consumerConnect(queueListener, true);
-    bufferStatus = handler->camera->setPreviewTarget(bufferQueue);
+    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
+    handler->queue = new(buffer_queue_obj) BufferQueue();
+    handler->queue->consumerConnect(handler->listener, true);
+    bufferStatus = handler->camera->setPreviewTarget(handler->queue);
    if (bufferStatus != 0)
        LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
 # endif
@@ -1002,7 +1117,7 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
    LOGD("CameraHandler::applyProperties(): after previousCameraHandler->closeCameraConnect");

    LOGD("CameraHandler::applyProperties(): before initCameraConnect");
-    CameraHandler* handler=initCameraConnect(cameraCallback, cameraId, userData, &curCameraParameters);
+    CameraHandler* handler=initCameraConnect(cameraCallback, cameraId, userData, (*ppcameraHandler)->params);
    LOGD("CameraHandler::applyProperties(): after initCameraConnect, handler=0x%x", (int)handler);
    if (handler == NULL) {
        LOGE("ERROR in applyProperties --- cannot reinit camera");
@@ -15,7 +15,9 @@ enum {
    ANDROID_CAMERA_PROPERTY_FOCAL_LENGTH = 105,
    ANDROID_CAMERA_PROPERTY_FOCUS_DISTANCE_NEAR = 106,
    ANDROID_CAMERA_PROPERTY_FOCUS_DISTANCE_OPTIMAL = 107,
-    ANDROID_CAMERA_PROPERTY_FOCUS_DISTANCE_FAR = 108
+    ANDROID_CAMERA_PROPERTY_FOCUS_DISTANCE_FAR = 108,
+    ANDROID_CAMERA_PROPERTY_EXPOSE_LOCK = 109,
+    ANDROID_CAMERA_PROPERTY_WHITEBALANCE_LOCK = 110
 };


@@ -30,12 +32,12 @@ enum {

 enum {
    ANDROID_CAMERA_FOCUS_MODE_AUTO = 0,
-    ANDROID_CAMERA_FOCUS_MODE_CONTINUOUS_PICTURE,
    ANDROID_CAMERA_FOCUS_MODE_CONTINUOUS_VIDEO,
    ANDROID_CAMERA_FOCUS_MODE_EDOF,
    ANDROID_CAMERA_FOCUS_MODE_FIXED,
    ANDROID_CAMERA_FOCUS_MODE_INFINITY,
    ANDROID_CAMERA_FOCUS_MODE_MACRO,
+    ANDROID_CAMERA_FOCUS_MODE_CONTINUOUS_PICTURE,
    ANDROID_CAMERA_FOCUS_MODES_NUM
 };

@@ -126,7 +126,7 @@ PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))
    Mat tvec;

 #ifdef HAVE_TBB
-    // limit concurrency to get determenistic result
+    // limit concurrency to get deterministic result
    cv::Ptr<tbb::task_scheduler_init> one_thread = new tbb::task_scheduler_init(1);
 #endif

@@ -478,7 +478,7 @@ void CV_CameraCalibrationTest::run( int start_from )
        values_read = fscanf(file,"%lf",goodDistortion+2); CV_Assert(values_read == 1);
        values_read = fscanf(file,"%lf",goodDistortion+3); CV_Assert(values_read == 1);

-        /* Read good Rot matrixes */
+        /* Read good Rot matrices */
        for( currImage = 0; currImage < numImages; currImage++ )
        {
            for( i = 0; i < 3; i++ )
@@ -1605,7 +1605,7 @@ void CV_StereoCalibrationTest::run( int )
        Mat _M1, _M2, _D1, _D2;
        vector<Mat> _R1, _R2, _T1, _T2;
        calibrateCamera( objpt, imgpt1, imgsize, _M1, _D1, _R1, _T1, 0 );
-        calibrateCamera( objpt, imgpt2, imgsize, _M2, _D2, _R2, _T1, 0 );
+        calibrateCamera( objpt, imgpt2, imgsize, _M2, _D2, _R2, _T2, 0 );
        undistortPoints( _imgpt1, _imgpt1, _M1, _D1, Mat(), _M1 );
        undistortPoints( _imgpt2, _imgpt2, _M2, _D2, Mat(), _M2 );

@@ -271,7 +271,7 @@ TEST(DISABLED_Calib3d_SolvePnPRansac, concurrency)
    Mat tvec1, tvec2;

    {
-        // limit concurrency to get determenistic result
+        // limit concurrency to get deterministic result
        cv::theRNG().state = 20121010;
        cv::Ptr<tbb::task_scheduler_init> one_thread = new tbb::task_scheduler_init(1);
        solvePnPRansac(object, image, camera_mat, dist_coef, rvec1, tvec1);
@@ -75,7 +75,7 @@ Moreover every :ocv:class:`FaceRecognizer` supports the:
 Setting the Thresholds
 +++++++++++++++++++++++

-Sometimes you run into the situation, when you want to apply a threshold on the prediction. A common scenario in face recognition is to tell, wether a face belongs to the training dataset or if it is unknown. You might wonder, why there's no public API in :ocv:class:`FaceRecognizer` to set the threshold for the prediction, but rest assured: It's supported. It just means there's no generic way in an abstract class to provide an interface for setting/getting the thresholds of *every possible* :ocv:class:`FaceRecognizer` algorithm. The appropriate place to set the thresholds is in the constructor of the specific :ocv:class:`FaceRecognizer` and since every :ocv:class:`FaceRecognizer` is a :ocv:class:`Algorithm` (see above), you can get/set the thresholds at runtime!
+Sometimes you run into the situation, when you want to apply a threshold on the prediction. A common scenario in face recognition is to tell, whether a face belongs to the training dataset or if it is unknown. You might wonder, why there's no public API in :ocv:class:`FaceRecognizer` to set the threshold for the prediction, but rest assured: It's supported. It just means there's no generic way in an abstract class to provide an interface for setting/getting the thresholds of *every possible* :ocv:class:`FaceRecognizer` algorithm. The appropriate place to set the thresholds is in the constructor of the specific :ocv:class:`FaceRecognizer` and since every :ocv:class:`FaceRecognizer` is a :ocv:class:`Algorithm` (see above), you can get/set the thresholds at runtime!

 Here is an example of setting a threshold for the Eigenfaces method, when creating the model:

@@ -71,7 +71,7 @@ You really don't want to create the CSV file by hand. And you really don't want
 Fisherfaces for Gender Classification
 --------------------------------------

-If you want to decide wether a person is *male* or *female*, you have to learn the discriminative features of both classes. The Eigenfaces method is based on the Principal Component Analysis, which is an unsupervised statistical model and not suitable for this task. Please see the Face Recognition tutorial for insights into the algorithms. The Fisherfaces instead yields a class-specific linear projection, so it is much better suited for the gender classification task. `http://www.bytefish.de/blog/gender_classification <http://www.bytefish.de/blog/gender_classification>`_  shows the recognition rate of the Fisherfaces method for gender classification.
+If you want to decide whether a person is *male* or *female*, you have to learn the discriminative features of both classes. The Eigenfaces method is based on the Principal Component Analysis, which is an unsupervised statistical model and not suitable for this task. Please see the Face Recognition tutorial for insights into the algorithms. The Fisherfaces instead yields a class-specific linear projection, so it is much better suited for the gender classification task. `http://www.bytefish.de/blog/gender_classification <http://www.bytefish.de/blog/gender_classification>`_  shows the recognition rate of the Fisherfaces method for gender classification.

 The Fisherfaces method achieves a 98% recognition rate in a subject-independent cross-validation. A subject-independent cross-validation means *images of the person under test are never used for learning the model*. And could you believe it: you can simply use the facerec_fisherfaces demo, that's inlcuded in OpenCV.

@@ -439,8 +439,8 @@ namespace cv
 #ifdef MAKE_PARALLEL
        /******************************************************
        ** IF some parallelizing thread methods are available, then, main loops are parallelized using these functors
-        ** ==> main idea paralellise main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelised methods as necessary
-        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelised
+        ** ==> main idea parallelize main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelized methods as necessary
+        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelized
        ** ==> functors constructors can differ from the parameters used with their related serial functions
        */

@@ -362,14 +362,14 @@ bool ImageLogPolProjection::_initLogPolarCortexSampling(const double reductionFa

    //std::cout<<"ImageLogPolProjection::Starting cortex projection"<<std::endl;
    // compute transformation, get theta and Radius in reagrd of the output sampled pixel
-    double diagonalLenght=sqrt((double)(_outputNBcolumns*_outputNBcolumns+_outputNBrows*_outputNBrows));
+    double diagonalLength=sqrt((double)(_outputNBcolumns*_outputNBcolumns+_outputNBrows*_outputNBrows));
    for (unsigned int radiusIndex=0;radiusIndex<_outputNBcolumns;++radiusIndex)
        for(unsigned int orientationIndex=0;orientationIndex<_outputNBrows;++orientationIndex)
        {
            double x=1.0+sinh(radiusAxis[radiusIndex])*cos(orientationAxis[orientationIndex]);
            double y=sinh(radiusAxis[radiusIndex])*sin(orientationAxis[orientationIndex]);
            // get the input picture coordinate
-            double R=diagonalLenght*sqrt(x*x+y*y)/(5.0+sqrt(x*x+y*y));
+            double R=diagonalLength*sqrt(x*x+y*y)/(5.0+sqrt(x*x+y*y));
            double theta=atan2(y,x);
            // convert input polar coord into cartesian/C compatble coordinate
            unsigned int columnIndex=(unsigned int)(cos(theta)*R)+halfInputColumns;
@@ -229,7 +229,7 @@ Mat subspaceReconstruct(InputArray _W, InputArray _mean, InputArray _src)
        string error_message = format("Wrong mean shape for the given eigenvector matrix. Expected %d, but was %d.", W.cols, mean.total());
        CV_Error(CV_StsBadArg, error_message);
    }
-    // initalize temporary matrices
+    // initialize temporary matrices
    Mat X, Y;
    // copy data & make sure we are using the correct type
    src.convertTo(Y, W.type());
@@ -195,8 +195,8 @@ namespace cv
 #ifdef MAKE_PARALLEL
        /******************************************************
        ** IF some parallelizing thread methods are available, then, main loops are parallelized using these functors
-        ** ==> main idea paralellise main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelised methods as necessary
-        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelised
+        ** ==> main idea parallelize main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelized methods as necessary
+        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelized
        ** ==> functors constructors can differ from the parameters used with their related serial functions
        */
        class Parallel_amacrineCellsComputing: public cv::ParallelLoopBody
@@ -219,8 +219,8 @@ private:
 #ifdef MAKE_PARALLEL
 /******************************************************
 ** IF some parallelizing thread methods are available, then, main loops are parallelized using these functors
-** ==> main idea paralellise main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelised methods as necessary
-** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelised
+** ==> main idea parallelize main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelized methods as necessary
+** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelized
 ** ==> functors constructors can differ from the parameters used with their related serial functions
 */
    class Parallel_OPL_OnOffWaysComputing: public cv::ParallelLoopBody
@@ -259,8 +259,8 @@ namespace cv
 #ifdef MAKE_PARALLEL
        /******************************************************
        ** IF some parallelizing thread methods are available, then, main loops are parallelized using these functors
-        ** ==> main idea paralellise main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelised methods as necessary
-        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelised
+        ** ==> main idea parallelize main filters loops, then, only the most used methods are parallelized... TODO : increase the number of parallelized methods as necessary
+        ** ==> functors names = Parallel_$$$ where $$$= the name of the serial method that is parallelized
        ** ==> functors constructors can differ from the parameters used with their related serial functions
        */

@@ -115,7 +115,7 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
 {
    CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 );

-#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
+#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3 && (!defined _MSC_VER || !defined _M_X64 || _MSC_VER > 1500)
    const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
    Eigen::Matrix<double,4,4> twist, g;
    twist << 0.,          -ksi_ptr[2], ksi_ptr[1],  ksi_ptr[3],
@@ -357,27 +357,27 @@ namespace cv

            for (unsigned int i=0;i<this->size();++i)
            {
-                double curentValue=(double)*(bufferPTR++);
+                double currentValue=(double)*(bufferPTR++);

                // updating "closest to the high threshold" pixel value
-                double highValueTest=maxThreshold-curentValue;
+                double highValueTest=maxThreshold-currentValue;
                if (highValueTest>0)
                {
                    if (deltaH>highValueTest)
                    {
                        deltaH=highValueTest;
-                        updatedHighValue=curentValue;
+                        updatedHighValue=currentValue;
                    }
                }

                // updating "closest to the low threshold" pixel value
-                double lowValueTest=curentValue-minThreshold;
+                double lowValueTest=currentValue-minThreshold;
                if (lowValueTest>0)
                {
                    if (deltaL>lowValueTest)
                    {
                        deltaL=lowValueTest;
-                        updatedLowValue=curentValue;
+                        updatedLowValue=currentValue;
                    }
                }
            }
@@ -25,7 +25,7 @@ endif()

 if(HAVE_CUDA)
  ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpu/include")
-  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
+  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wshadow)
 endif()

 file(GLOB lib_cuda_hdrs        "include/opencv2/${name}/cuda/*.hpp"        "include/opencv2/${name}/cuda/*.h")
@@ -1350,12 +1350,12 @@ Copies the matrix to another one.

 The method copies the matrix data to another matrix. Before copying the data, the method invokes ::

-    m.create(this->size(), this->type);
+    m.create(this->size(), this->type());


 so that the destination matrix is reallocated if needed. While ``m.copyTo(m);`` works flawlessly, the function does not handle the case of a partial overlap between the source and the destination matrices.

-When the operation mask is specified, and the ``Mat::create`` call shown above reallocated the matrix, the newly allocated matrix is initialized with all zeros before copying the data.
+When the operation mask is specified, if the ``Mat::create`` call shown above reallocates the matrix, the newly allocated matrix is initialized with all zeros before copying the data.

 .. _Mat::convertTo:

@@ -1445,7 +1445,7 @@ Transposes a matrix.

 The method performs matrix transposition by means of matrix expressions. It does not perform the actual transposition but returns a temporary matrix transposition object that can be further used as a part of more complex matrix expressions or can be assigned to a matrix: ::

-    Mat A1 = A + Mat::eye(A.size(), A.type)*lambda;
+    Mat A1 = A + Mat::eye(A.size(), A.type())*lambda;
    Mat C = A1.t()*A1; // compute (A + lambda*I)^t * (A + lamda*I)


@@ -1436,7 +1436,7 @@ description rewritten using

    IplImage* color_img = cvCreateImage(cvSize(320,240), IPL_DEPTH_8U, 3);
    IplImage gray_img_hdr, *gray_img;
-    gray_img = (IplImage*)cvReshapeND(color_img, &gray_img_hdr, 1, 0, 0);
+    gray_img = (IplImage*)cvReshapeMatND(color_img, sizeof(gray_img_hdr), &gray_img_hdr, 1, 0, 0);

    ...

@@ -1444,6 +1444,18 @@ description rewritten using
    int size[] = { 2, 2, 2 };
    CvMatND* mat = cvCreateMatND(3, size, CV_32F);
    CvMat row_header, *row;
+    row = (CvMat*)cvReshapeMatND(mat, sizeof(row_header), &row_header, 0, 1, 0);
+
+..
+
+In C, the header file for this function includes a convenient macro ``cvReshapeND`` that does away with the ``sizeof_header`` parameter. So, the lines containing the call to ``cvReshapeMatND`` in the examples may be replaced as follow:
+
+::
+
+    gray_img = (IplImage*)cvReshapeND(color_img, &gray_img_hdr, 1, 0, 0);
+
+    ...
+
    row = (CvMat*)cvReshapeND(mat, &row_header, 0, 1, 0);

 ..
@@ -0,0 +1,509 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's 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.
+//
+//   * The name of the copyright holders may not 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 Intel Corporation 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.
+//
+//M*/
+
+#ifndef __OPENCV_CORE_AFFINE3_HPP__
+#define __OPENCV_CORE_AFFINE3_HPP__
+
+#ifdef __cplusplus
+
+#include <opencv2/core/core.hpp>
+
+namespace cv
+{
+    template<typename T>
+    class Affine3
+    {
+    public:
+        typedef T float_type;
+        typedef Matx<float_type, 3, 3> Mat3;
+        typedef Matx<float_type, 4, 4> Mat4;
+        typedef Vec<float_type, 3> Vec3;
+
+        Affine3();
+
+        //Augmented affine matrix
+        Affine3(const Mat4& affine);
+
+        //Rotation matrix
+        Affine3(const Mat3& R, const Vec3& t = Vec3::all(0));
+
+        //Rodrigues vector
+        Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0));
+
+        //Combines all contructors above. Supports 4x4, 4x3, 3x3, 1x3, 3x1 sizes of data matrix
+        explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0));
+
+        //From 16th element array
+        explicit Affine3(const float_type* vals);
+
+        static Affine3 Identity();
+
+        //Rotation matrix
+        void rotation(const Mat3& R);
+
+        //Rodrigues vector
+        void rotation(const Vec3& rvec);
+
+        //Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+        void rotation(const Mat& data);
+
+        void linear(const Mat3& L);
+        void translation(const Vec3& t);
+
+        Mat3 rotation() const;
+        Mat3 linear() const;
+        Vec3 translation() const;
+
+        //Rodrigues vector
+        Vec3 rvec() const;
+
+        Affine3 inv(int method = cv::DECOMP_SVD) const;
+
+        // a.rotate(R) is equivalent to Affine(R, 0) * a;
+        Affine3 rotate(const Mat3& R) const;
+
+        // a.rotate(R) is equivalent to Affine(rvec, 0) * a;
+        Affine3 rotate(const Vec3& rvec) const;
+
+        // a.translate(t) is equivalent to Affine(E, t) * a;
+        Affine3 translate(const Vec3& t) const;
+
+        // a.concatenate(affine) is equivalent to affine * a;
+        Affine3 concatenate(const Affine3& affine) const;
+
+        template <typename Y> operator Affine3<Y>() const;
+
+        template <typename Y> Affine3<Y> cast() const;
+
+        Mat4 matrix;
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine);
+        Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine);
+        operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const;
+        operator Eigen::Transform<T, 3, Eigen::Affine>() const;
+#endif
+    };
+
+    template<typename T> static
+    Affine3<T> operator*(const Affine3<T>& affine1, const Affine3<T>& affine2);
+
+    template<typename T, typename V> static
+    V operator*(const Affine3<T>& affine, const V& vector);
+
+    typedef Affine3<float> Affine3f;
+    typedef Affine3<double> Affine3d;
+
+    static Vec3f operator*(const Affine3f& affine, const Vec3f& vector);
+    static Vec3d operator*(const Affine3d& affine, const Vec3d& vector);
+
+    template<typename _Tp> class DataType< Affine3<_Tp> >
+    {
+    public:
+        typedef Affine3<_Tp>                               value_type;
+        typedef Affine3<typename DataType<_Tp>::work_type> work_type;
+        typedef _Tp                                        channel_type;
+
+        enum { generic_type = 0,
+               depth        = DataType<channel_type>::depth,
+               channels     = 16,
+               fmt          = DataType<channel_type>::fmt + ((channels - 1) << 8),
+               type         = CV_MAKETYPE(depth, channels)
+             };
+
+        typedef Vec<channel_type, channels> vec_type;
+    };
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////
+/// Implementaiton
+
+template<typename T> inline
+cv::Affine3<T>::Affine3()
+    : matrix(Mat4::eye())
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat4& affine)
+    : matrix(affine)
+{}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Mat3& R, const Vec3& t)
+{
+    rotation(R);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Vec3& _rvec, const Vec3& t)
+{
+    rotation(_rvec);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 4 && data.rows == 4)
+    {
+        data.copyTo(matrix);
+        return;
+    }
+    else if (data.cols == 4 && data.rows == 3)
+    {
+        rotation(data(Rect(0, 0, 3, 3)));
+        translation(data(Rect(3, 0, 1, 3)));
+        return;
+    }
+
+    rotation(data);
+    translation(t);
+    matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+    matrix.val[15] = 1;
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const float_type* vals) : matrix(vals)
+{}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::Identity()
+{
+    return Affine3<T>(cv::Affine3<T>::Mat4::eye());
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Mat3& R)
+{
+    linear(R);
+}
+
+template<typename T> inline
+void cv::Affine3<T>::rotation(const Vec3& _rvec)
+{
+    double rx = _rvec[0], ry = _rvec[1], rz = _rvec[2];
+    double theta = std::sqrt(rx*rx + ry*ry + rz*rz);
+
+    if (theta < DBL_EPSILON)
+        rotation(Mat3::eye());
+    else
+    {
+        const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+
+        double c = std::cos(theta);
+        double s = std::sin(theta);
+        double c1 = 1. - c;
+        double itheta = theta ? 1./theta : 0.;
+
+        rx *= itheta; ry *= itheta; rz *= itheta;
+
+        double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
+        double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
+        Mat3 R;
+
+        // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
+        // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
+        for(int k = 0; k < 9; ++k)
+            R.val[k] = static_cast<float_type>(c*I[k] + c1*rrt[k] + s*_r_x_[k]);
+
+        rotation(R);
+    }
+}
+
+//Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
+template<typename T> inline
+void cv::Affine3<T>::rotation(const cv::Mat& data)
+{
+    CV_Assert(data.type() == cv::DataType<T>::type);
+
+    if (data.cols == 3 && data.rows == 3)
+    {
+        Mat3 R;
+        data.copyTo(R);
+        rotation(R);
+    }
+    else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3))
+    {
+        Vec3 _rvec;
+        data.reshape(1, 3).copyTo(_rvec);
+        rotation(_rvec);
+    }
+    else
+        CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1");
+}
+
+template<typename T> inline
+void cv::Affine3<T>::linear(const Mat3& L)
+{
+    matrix.val[0] = L.val[0]; matrix.val[1] = L.val[1];  matrix.val[ 2] = L.val[2];
+    matrix.val[4] = L.val[3]; matrix.val[5] = L.val[4];  matrix.val[ 6] = L.val[5];
+    matrix.val[8] = L.val[6]; matrix.val[9] = L.val[7];  matrix.val[10] = L.val[8];
+}
+
+template<typename T> inline
+void cv::Affine3<T>::translation(const Vec3& t)
+{
+    matrix.val[3] = t[0]; matrix.val[7] = t[1]; matrix.val[11] = t[2];
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::rotation() const
+{
+    return linear();
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Mat3 cv::Affine3<T>::linear() const
+{
+    typename cv::Affine3<T>::Mat3 R;
+    R.val[0] = matrix.val[0];  R.val[1] = matrix.val[1];  R.val[2] = matrix.val[ 2];
+    R.val[3] = matrix.val[4];  R.val[4] = matrix.val[5];  R.val[5] = matrix.val[ 6];
+    R.val[6] = matrix.val[8];  R.val[7] = matrix.val[9];  R.val[8] = matrix.val[10];
+    return R;
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Vec3 cv::Affine3<T>::translation() const
+{
+    return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]);
+}
+
+template<typename T> inline
+typename cv::Affine3<T>::Vec3 cv::Affine3<T>::rvec() const
+{
+    cv::Vec3d w;
+    cv::Matx33d u, vt, R = rotation();
+    cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
+    R = u * vt;
+
+    double rx = R.val[7] - R.val[5];
+    double ry = R.val[2] - R.val[6];
+    double rz = R.val[3] - R.val[1];
+
+    double s = std::sqrt((rx*rx + ry*ry + rz*rz)*0.25);
+    double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5;
+    c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c;
+    double theta = acos(c);
+
+    if( s < 1e-5 )
+    {
+        if( c > 0 )
+            rx = ry = rz = 0;
+        else
+        {
+            double t;
+            t = (R.val[0] + 1) * 0.5;
+            rx = std::sqrt(std::max(t, 0.0));
+            t = (R.val[4] + 1) * 0.5;
+            ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0);
+            t = (R.val[8] + 1) * 0.5;
+            rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0);
+
+            if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R.val[5] > 0) != (ry*rz > 0) )
+                rz = -rz;
+            theta /= std::sqrt(rx*rx + ry*ry + rz*rz);
+            rx *= theta;
+            ry *= theta;
+            rz *= theta;
+        }
+    }
+    else
+    {
+        double vth = 1/(2*s);
+        vth *= theta;
+        rx *= vth; ry *= vth; rz *= vth;
+    }
+
+    return cv::Vec3d(rx, ry, rz);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::inv(int method) const
+{
+    return matrix.inv(method);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Mat3& R) const
+{
+    Mat3 Lc = linear();
+    Vec3 tc = translation();
+    Mat4 result;
+    result.val[12] = result.val[13] = result.val[14] = 0;
+    result.val[15] = 1;
+
+    for(int j = 0; j < 3; ++j)
+    {
+        for(int i = 0; i < 3; ++i)
+        {
+            float_type value = 0;
+            for(int k = 0; k < 3; ++k)
+                value += R(j, k) * Lc(k, i);
+            result(j, i) = value;
+        }
+
+        result(j, 3) = R.row(j).dot(tc.t());
+    }
+    return result;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::rotate(const Vec3& _rvec) const
+{
+    return rotate(Affine3f(_rvec).rotation());
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::translate(const Vec3& t) const
+{
+    Mat4 m = matrix;
+    m.val[ 3] += t[0];
+    m.val[ 7] += t[1];
+    m.val[11] += t[2];
+    return m;
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::Affine3<T>::concatenate(const Affine3<T>& affine) const
+{
+    return (*this).rotate(affine.rotation()).translate(affine.translation());
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<T>::operator Affine3<Y>() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> template <typename Y> inline
+cv::Affine3<Y> cv::Affine3<T>::cast() const
+{
+    return Affine3<Y>(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T> cv::operator*(const cv::Affine3<T>& affine1, const cv::Affine3<T>& affine2)
+{
+    return affine2.concatenate(affine1);
+}
+
+template<typename T, typename V> inline
+V cv::operator*(const cv::Affine3<T>& affine, const V& v)
+{
+    const typename Affine3<T>::Mat4& m = affine.matrix;
+
+    V r;
+    r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[ 2] * v.z + m.val[ 3];
+    r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[ 6] * v.z + m.val[ 7];
+    r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3f cv::operator*(const cv::Affine3f& affine, const cv::Vec3f& v)
+{
+    const cv::Matx44f& m = affine.matrix;
+    cv::Vec3f r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+static inline
+cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v)
+{
+    const cv::Matx44d& m = affine.matrix;
+    cv::Vec3d r;
+    r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
+    r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
+    r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+    return r;
+}
+
+
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine)
+{
+    cv::Mat(4, 4, cv::DataType<T>::type, affine.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine)
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> a = affine;
+    cv::Mat(4, 4, cv::DataType<T>::type, a.matrix().data()).copyTo(matrix);
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const
+{
+    Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> r;
+    cv::Mat hdr(4, 4, cv::DataType<T>::type, r.matrix().data());
+    cv::Mat(matrix, false).copyTo(hdr);
+    return r;
+}
+
+template<typename T> inline
+cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine>() const
+{
+    return this->operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>();
+}
+
+#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */
+
+
+#endif /* __cplusplus */
+
+#endif /* __OPENCV_CORE_AFFINE3_HPP__ */
@@ -892,6 +892,7 @@ public:
 typedef Point_<int> Point2i;
 typedef Point2i Point;
 typedef Size_<int> Size2i;
+typedef Size_<double> Size2d;
 typedef Size2i Size;
 typedef Rect_<int> Rect;
 typedef Point_<float> Point2f;
@@ -105,7 +105,7 @@ CVAPI(void)  cvResetImageROI( IplImage* image );
 /* Retrieves image ROI */
 CVAPI(CvRect) cvGetImageROI( const IplImage* image );

-/* Allocates and initalizes CvMat header */
+/* Allocates and initializes CvMat header */
 CVAPI(CvMat*)  cvCreateMatHeader( int rows, int cols, int type );

 #define CV_AUTOSTEP  0x7fffffff
--- a/Show More
+++ b/Show More