Merge pull request #3747 from StevenPuttemans:fix_annotationtool_extras

Merge pull request #3751 from jet47:gpu-bmoptflow-test-epsilon
fix annotation tool, add auto make of tool
2026-07-23 12:23:02 +04:00 · 2015-02-25 12:10:31 +00:00 · 2015-02-25 11:54:44 +00:00 · 2015-02-25 11:27:59 +01:00 · 2015-02-25 13:16:36 +03:00 · 2015-02-24 15:06:15 +00:00
367 changed files with 341719 additions and 357406 deletions
@@ -0,0 +1 @@
+ippicv
@@ -14,7 +14,7 @@ ocv_include_directories("${CMAKE_CURRENT_SOURCE_DIR}" ${ZLIB_INCLUDE_DIR})
 file(GLOB lib_srcs *.c)
 file(GLOB lib_hdrs *.h)

-if(NEON)
+if(ARM AND NEON)
  list(APPEND lib_srcs arm/filter_neon.S)
  add_definitions(-DPNG_ARM_NEON)
 endif()
@@ -5,21 +5,26 @@ if (WIN32 AND NOT ARM)
  message(FATAL_ERROR "BUILD_TBB option supports Windows on ARM only!\nUse regular official TBB build instead of the BUILD_TBB option!")
 endif()

-if (WIN32 AND ARM)
-  # 4.1 update 4 - The first release that supports Windows RT. Hangs on some Android devices
-  set(tbb_ver "tbb41_20130613oss")
-  set(tbb_url "http://threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb41_20130613oss_src.tgz")
-  set(tbb_md5 "108c8c1e481b0aaea61878289eb28b6a")
-  set(tbb_version_file "version_string.ver")
-  ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4702)
-else()
-  # 4.1 update 2 - works fine
-  set(tbb_ver "tbb41_20130116oss")
-  set(tbb_url "http://threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb41_20130116oss_src.tgz")
-  set(tbb_md5 "3809790e1001a1b32d59c9fee590ee85")
-  set(tbb_version_file "version_string.ver")
-  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)
-endif()
+set(tbb_ver "tbb43_20141204oss")
+set(tbb_url "http://www.threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb43_20141204oss_src.tgz")
+set(tbb_md5 "e903dd92d9433701f097fa7ca29a3c1f")
+set(tbb_version_file "version_string.ver")
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4702)
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)
+
+# 4.1 update 4 - The first release that supports Windows RT. Hangs on some Android devices
+#set(tbb_ver "tbb41_20130613oss")
+#set(tbb_url "http://threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb41_20130613oss_src.tgz")
+#set(tbb_md5 "108c8c1e481b0aaea61878289eb28b6a")
+#set(tbb_version_file "version_string.ver")
+#ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4702)
+
+# 4.1 update 2 - works fine
+#set(tbb_ver "tbb41_20130116oss")
+#set(tbb_url "http://threadingbuildingblocks.org/sites/default/files/software_releases/source/tbb41_20130116oss_src.tgz")
+#set(tbb_md5 "3809790e1001a1b32d59c9fee590ee85")
+#set(tbb_version_file "version_string.ver")
+#ocv_warnings_disable(CMAKE_CXX_FLAGS -Wshadow)

 # 4.1 update 3 dev - Hangs on some Android devices
 #set(tbb_ver "tbb41_20130401oss")
@@ -113,7 +118,7 @@ if(NOT EXISTS "${tbb_tarball}")
  message(STATUS "Downloading ${tbb_ver}_src.tgz")
  file(DOWNLOAD "${tbb_url}" "${tbb_tarball}" TIMEOUT 600 STATUS __statvar)
  if(NOT __statvar EQUAL 0)
-    message(FATAL_ERROR "Failed to download TBB sources: ${tbb_url}")
+    message(FATAL_ERROR "Failed to download TBB sources (${__statvar}): ${tbb_url}")
  endif()
  getMD5("${tbb_tarball}" tbb_local_md5)
  if(NOT tbb_local_md5 STREQUAL tbb_md5)
@@ -169,6 +174,7 @@ if (WIN32)
 set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} /APPCONTAINER")
 else()
  add_definitions(-D__TBB_DYNAMIC_LOAD_ENABLED=0         #required
+                  -D__TBB_WEAK_SYMBOLS_PRESENT=0         #required for 4.3
                  -D__TBB_BUILD=1                        #required
                  -D__TBB_SURVIVE_THREAD_SWITCH=0        #no cilk support
                  -DTBB_USE_DEBUG=0                      #just to be sure
@@ -198,7 +204,7 @@ endif()

 set(TBB_SOURCE_FILES ${lib_srcs} ${lib_hdrs})

-if (ARM AND NOT WIN32)
+if ((ARM OR AARCH64) AND NOT WIN32)
  if (NOT ANDROID)
    set(TBB_SOURCE_FILES ${TBB_SOURCE_FILES} "${CMAKE_CURRENT_SOURCE_DIR}/arm_linux_stub.cpp")
  endif()
@@ -82,7 +82,7 @@ if(UNIX)
  endif()
 endif()

-ocv_warnings_disable(CMAKE_C_FLAGS -Wattributes -Wstrict-prototypes -Wmissing-prototypes -Wmissing-declarations)
+ocv_warnings_disable(CMAKE_C_FLAGS -Wshorten-64-to-32 -Wattributes -Wstrict-prototypes -Wmissing-prototypes -Wmissing-declarations)

 set_target_properties(${ZLIB_LIBRARY} PROPERTIES
        OUTPUT_NAME ${ZLIB_LIBRARY}
@@ -47,12 +47,19 @@ if(POLICY CMP0022)
  cmake_policy(SET CMP0022 OLD)
 endif()

+if(POLICY CMP0026)
+  # silence cmake 3.0+ warnings about reading LOCATION attribute
+  cmake_policy(SET CMP0026 OLD)
+endif()
+
 # must go before the project command
 set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "Configs" FORCE)
 if(DEFINED CMAKE_BUILD_TYPE AND CMAKE_VERSION VERSION_GREATER "2.8")
  set_property( CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${CMAKE_CONFIGURATION_TYPES} )
 endif()

+enable_testing()
+
 project(OpenCV CXX C)

 if(MSVC)
@@ -135,7 +142,8 @@ OCV_OPTION(WITH_NVCUVID        "Include NVidia Video Decoding library support"
 OCV_OPTION(WITH_EIGEN          "Include Eigen2/Eigen3 support"               ON)
 OCV_OPTION(WITH_VFW            "Include Video for Windows support"           ON   IF WIN32 )
 OCV_OPTION(WITH_FFMPEG         "Include FFMPEG support"                      ON   IF (NOT ANDROID AND NOT IOS))
-OCV_OPTION(WITH_GSTREAMER      "Include Gstreamer support"                   ON   IF (UNIX AND NOT APPLE AND NOT ANDROID) )
+OCV_OPTION(WITH_GSTREAMER      "Include Gstreamer support"                   ON   IF (UNIX AND NOT ANDROID) )
+OCV_OPTION(WITH_GSTREAMER_0_10 "Enable Gstreamer 0.10 support (instead of 1.x)"   OFF )
 OCV_OPTION(WITH_GTK            "Include GTK support"                         ON   IF (UNIX AND NOT APPLE AND NOT ANDROID) )
 OCV_OPTION(WITH_IMAGEIO        "ImageIO support for OS X"                    OFF  IF APPLE )
 OCV_OPTION(WITH_IPP            "Include Intel IPP support"                   OFF  IF (MSVC OR X86 OR X86_64) )
@@ -159,7 +167,7 @@ OCV_OPTION(WITH_V4L            "Include Video 4 Linux support"               ON
 OCV_OPTION(WITH_LIBV4L         "Use libv4l for Video 4 Linux support"        ON   IF (UNIX AND NOT ANDROID) )
 OCV_OPTION(WITH_DSHOW          "Build HighGUI with DirectShow support"       ON   IF (WIN32 AND NOT ARM) )
 OCV_OPTION(WITH_MSMF           "Build HighGUI with Media Foundation support" OFF  IF WIN32 )
-OCV_OPTION(WITH_XIMEA          "Include XIMEA cameras support"               OFF  IF (NOT ANDROID AND NOT APPLE) )
+OCV_OPTION(WITH_XIMEA          "Include XIMEA cameras support"               OFF  IF (NOT ANDROID) )
 OCV_OPTION(WITH_XINE           "Include Xine support (GPL)"                  OFF  IF (UNIX AND NOT APPLE AND NOT ANDROID) )
 OCV_OPTION(WITH_OPENCL         "Include OpenCL Runtime support"              ON   IF (NOT IOS) )
 OCV_OPTION(WITH_OPENCLAMDFFT   "Include AMD OpenCL FFT library support"      ON   IF (NOT ANDROID AND NOT IOS) )
@@ -217,12 +225,17 @@ OCV_OPTION(ENABLE_SSSE3               "Enable SSSE3 instructions"
 OCV_OPTION(ENABLE_SSE41               "Enable SSE4.1 instructions"                               OFF  IF ((CV_ICC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86 OR X86_64)) )
 OCV_OPTION(ENABLE_SSE42               "Enable SSE4.2 instructions"                               OFF  IF (CMAKE_COMPILER_IS_GNUCXX AND (X86 OR X86_64)) )
 OCV_OPTION(ENABLE_AVX                 "Enable AVX instructions"                                  OFF  IF ((MSVC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86 OR X86_64)) )
-OCV_OPTION(ENABLE_NEON                "Enable NEON instructions"                                 OFF  IF CMAKE_COMPILER_IS_GNUCXX AND ARM )
-OCV_OPTION(ENABLE_VFPV3               "Enable VFPv3-D32 instructions"                            OFF  IF CMAKE_COMPILER_IS_GNUCXX AND ARM )
+OCV_OPTION(ENABLE_AVX2                "Enable AVX2 instructions"                                 OFF  IF ((MSVC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86 OR X86_64)) )
+OCV_OPTION(ENABLE_NEON                "Enable NEON instructions"                                 AARCH64 IF CMAKE_COMPILER_IS_GNUCXX AND (ARM OR AARCH64))
+OCV_OPTION(ENABLE_VFPV3               "Enable VFPv3-D32 instructions"                            AARCH64 IF CMAKE_COMPILER_IS_GNUCXX AND (ARM OR AARCH64))
 OCV_OPTION(ENABLE_NOISY_WARNINGS      "Show all warnings even if they are too noisy"             OFF )
 OCV_OPTION(OPENCV_WARNINGS_ARE_ERRORS "Treat warnings as errors"                                 OFF )
 OCV_OPTION(ENABLE_WINRT_MODE          "Build with Windows Runtime support"                       OFF  IF WIN32 )
 OCV_OPTION(ENABLE_WINRT_MODE_NATIVE   "Build with Windows Runtime native C++ support"            OFF  IF WIN32 )
+OCV_OPTION(ENABLE_LIBVS2013           "Build VS2013 with Visual Studio 2013 libraries"           OFF  IF WIN32 AND (MSVC_VERSION EQUAL 1800) )
+OCV_OPTION(ENABLE_WINSDK81            "Build VS2013 with Windows 8.1 SDK"                        OFF  IF WIN32 AND (MSVC_VERSION EQUAL 1800) )
+OCV_OPTION(ENABLE_WINPHONESDK80       "Build with Windows Phone 8.0 SDK"                         OFF  IF WIN32 AND (MSVC_VERSION EQUAL 1700) )
+OCV_OPTION(ENABLE_WINPHONESDK81       "Build VS2013 with Windows Phone 8.1 SDK"                  OFF  IF WIN32 AND (MSVC_VERSION EQUAL 1800) )

 # uncategorized options
 # ===================================================
@@ -434,6 +447,8 @@ if(UNIX)
      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} dl m log)
    elseif(${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD|NetBSD|DragonFly")
      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m pthread)
+    elseif(${CMAKE_SYSTEM_NAME} MATCHES "QNX")
+      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m)
    else()
      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} dl m pthread rt)
    endif()
@@ -472,8 +487,13 @@ include(cmake/OpenCVFindLibsPerf.cmake)
 # ----------------------------------------------------------------------------

 # --- LATEX for pdf documentation ---
+unset(HAVE_DOXYGEN CACHE)
 if(BUILD_DOCS)
  include(cmake/OpenCVFindLATEX.cmake)
+  find_host_program(DOXYGEN_BUILD doxygen)
+  if (DOXYGEN_BUILD)
+    set(HAVE_DOXYGEN 1)
+  endif (DOXYGEN_BUILD)
 endif(BUILD_DOCS)

 # --- Python Support ---
@@ -593,23 +613,31 @@ include(cmake/OpenCVGenConfig.cmake)
 include(cmake/OpenCVGenInfoPlist.cmake)

 # Generate environment setup file
-if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH AND UNIX)
+if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
  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)
-
+            DESTINATION . COMPONENT tests)
+  elseif(WIN32 OR UNIX)
+    set(OPENCV_PYTHON_TESTS_LIST "")
+    if(BUILD_opencv_python)
+      file(GLOB py_tests modules/python/test/*.py)
+      install(PROGRAMS ${py_tests} DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+      set(OPENCV_PYTHON_TESTS_LIST "test2.py")
+    endif()
+    if(WIN32)
+        configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_run_all_tests_windows.cmd.in"
+                       "${CMAKE_BINARY_DIR}/win-install/opencv_run_all_tests.cmd" @ONLY)
+        install(PROGRAMS "${CMAKE_BINARY_DIR}/win-install/opencv_run_all_tests.cmd"
+                DESTINATION ${OPENCV_TEST_INSTALL_PATH} COMPONENT tests)
+    else()
+        configure_file("${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()
 endif()

@@ -627,11 +655,11 @@ endif()
 if(ANDROID OR NOT UNIX)
  install(FILES ${OPENCV_LICENSE_FILE}
        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
-        DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+        DESTINATION . COMPONENT libs)
  if(OPENCV_README_FILE)
    install(FILES ${OPENCV_README_FILE}
            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ
-            DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT libs)
+            DESTINATION . COMPONENT libs)
  endif()
 endif()

@@ -745,8 +773,8 @@ if(WIN32)
 status("")
    status("  Windows RT support:" HAVE_WINRT THEN YES ELSE NO)
    if (ENABLE_WINRT_MODE OR ENABLE_WINRT_MODE_NATIVE)
-      status("    Windows SDK v8.0:" ${WINDOWS_SDK_PATH})
-      status("    Visual Studio 2012:" ${VISUAL_STUDIO_PATH})
+      status("  Windows (Phone) SDK v8.0/v8.1:" ${WINDOWS_SDK_PATH})
+      status("  Visual Studio 2012/2013:" ${VISUAL_STUDIO_PATH})
    endif()
 endif(WIN32)

@@ -861,10 +889,12 @@ endif(DEFINED WITH_FFMPEG)
 if(DEFINED WITH_GSTREAMER)
  status("    GStreamer:"      HAVE_GSTREAMER      THEN ""                                         ELSE NO)
  if(HAVE_GSTREAMER)
-    status("      base:"       "YES (ver ${ALIASOF_gstreamer-base-0.10_VERSION})")
-    status("      app:"        "YES (ver ${ALIASOF_gstreamer-app-0.10_VERSION})")
-    status("      video:"      "YES (ver ${ALIASOF_gstreamer-video-0.10_VERSION})")
-  endif()
+    status("      base:"       "YES (ver ${GSTREAMER_BASE_VERSION})")
+    status("      video:"      "YES (ver ${GSTREAMER_VIDEO_VERSION})")
+    status("      app:"        "YES (ver ${GSTREAMER_APP_VERSION})")
+    status("      riff:"       "YES (ver ${GSTREAMER_RIFF_VERSION})")
+    status("      pbutils:"    "YES (ver ${GSTREAMER_PBUTILS_VERSION})")
+  endif(HAVE_GSTREAMER)
 endif(DEFINED WITH_GSTREAMER)

 if(DEFINED WITH_OPENNI)
@@ -905,8 +935,9 @@ if(DEFINED WITH_V4L)
  else()
    set(HAVE_CAMV4L2_STR "NO")
  endif()
-  status("    V4L/V4L2:"       HAVE_LIBV4L         THEN "Using libv4l (ver ${ALIASOF_libv4l1_VERSION})"
-                                                   ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
+  status("    V4L/V4L2:"       HAVE_LIBV4L
+             THEN "Using libv4l1 (ver ${ALIASOF_libv4l1_VERSION}) / libv4l2 (ver ${ALIASOF_libv4l2_VERSION})"
+             ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
 endif(DEFINED WITH_V4L)

 if(DEFINED WITH_DSHOW)
@@ -1028,6 +1059,7 @@ if(BUILD_DOCS)
  endif()
  status("    Sphinx:"              HAVE_SPHINX              THEN "${SPHINX_BUILD} (ver ${SPHINX_VERSION})" ELSE NO)
  status("    PdfLaTeX compiler:"   PDFLATEX_COMPILER        THEN "${PDFLATEX_COMPILER}" ELSE NO)
+  status("    Doxygen:"             HAVE_DOXYGEN             THEN "YES (${DOXYGEN_BUILD})" ELSE NO)
 endif()

 # ========================== samples and tests ==========================
@@ -2,3 +2,4 @@ link_libraries(${OPENCV_LINKER_LIBS})

 add_subdirectory(haartraining)
 add_subdirectory(traincascade)
+add_subdirectory(annotation)
@@ -0,0 +1,35 @@
+SET(deps opencv_core opencv_highgui opencv_imgproc)
+ocv_check_dependencies(${deps})
+
+if(NOT OCV_DEPENDENCIES_FOUND)
+   return()
+endif()
+
+project(annotation)
+
+ocv_include_directories("${CMAKE_CURRENT_SOURCE_DIR}" "${OpenCV_SOURCE_DIR}/include/opencv")
+ocv_include_modules(${deps})
+
+set(the_target opencv_annotation)
+
+add_executable(${the_target} opencv_annotation.cpp)
+target_link_libraries(${the_target} ${deps})
+
+set_target_properties(${the_target} PROPERTIES
+                      DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
+                      ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
+                      RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
+                      INSTALL_NAME_DIR lib
+                      OUTPUT_NAME "opencv_annotation")
+
+if(ENABLE_SOLUTION_FOLDERS)
+   set_target_properties(${the_target} PROPERTIES FOLDER "applications")
+endif()
+
+if(INSTALL_CREATE_DISTRIB)
+   if(BUILD_SHARED_LIBS)
+      install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} CONFIGURATIONS Release COMPONENT dev)
+   endif()
+else()
+   install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} COMPONENT dev)
+endif()
@@ -0,0 +1,196 @@
+/*****************************************************************************************************
+USAGE:
+./opencv_annotation -images <folder location> -annotations <ouput file>
+
+Created by: Puttemans Steven
+*****************************************************************************************************/
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include <fstream>
+#include <iostream>
+
+using namespace std;
+using namespace cv;
+
+// Function prototypes
+void on_mouse(int, int, int, int, void*);
+string int2string(int);
+void get_annotations(Mat, stringstream*);
+
+// Public parameters
+Mat image;
+int roi_x0 = 0, roi_y0 = 0, roi_x1 = 0, roi_y1 = 0, num_of_rec = 0;
+bool start_draw = false;
+
+// Window name for visualisation purposes
+const string window_name="OpenCV Based Annotation Tool";
+
+// FUNCTION : Mouse response for selecting objects in images
+// If left button is clicked, start drawing a rectangle as long as mouse moves
+// Stop drawing once a new left click is detected by the on_mouse function
+void on_mouse(int event, int x, int y, int , void * )
+{
+    // Action when left button is clicked
+    if(event == CV_EVENT_LBUTTONDOWN)
+    {
+        if(!start_draw)
+        {
+            roi_x0 = x;
+            roi_y0 = y;
+            start_draw = true;
+        } else {
+            roi_x1 = x;
+            roi_y1 = y;
+            start_draw = false;
+        }
+    }
+    // Action when mouse is moving
+    if((event == CV_EVENT_MOUSEMOVE) && start_draw)
+    {
+        // Redraw bounding box for annotation
+        Mat current_view;
+        image.copyTo(current_view);
+        rectangle(current_view, Point(roi_x0,roi_y0), Point(x,y), Scalar(0,0,255));
+        imshow(window_name, current_view);
+    }
+}
+
+// FUNCTION : snippet to convert an integer value to a string using a clean function
+// instead of creating a stringstream each time inside the main code
+string int2string(int num)
+{
+    stringstream temp_stream;
+    temp_stream << num;
+    return temp_stream.str();
+}
+
+// FUNCTION : given an image containing positive object instances, add all the object
+// annotations to a known stringstream
+void get_annotations(Mat input_image, stringstream* output_stream)
+{
+    // Make it possible to exit the annotation
+    bool stop = false;
+
+    // Reset the num_of_rec element at each iteration
+    // Make sure the global image is set to the current image
+    num_of_rec = 0;
+    image = input_image;
+
+    // Init window interface and couple mouse actions
+    namedWindow(window_name, WINDOW_AUTOSIZE);
+    setMouseCallback(window_name, on_mouse);
+
+    imshow(window_name, image);
+    stringstream temp_stream;
+    int key_pressed = 0;
+
+    do
+    {
+        // Keys for processing
+        // You need to select one for confirming a selection and one to continue to the next image
+        // Based on the universal ASCII code of the keystroke: http://www.asciitable.com/
+        //      c = 99		    add rectangle to current image
+        //	    n = 110		    save added rectangles and show next image
+        //	    <ESC> = 27      exit program
+        key_pressed = 0xFF & waitKey(0);
+        switch( key_pressed )
+        {
+        case 27:
+                destroyWindow(window_name);
+                stop = true;
+        case 99:
+                // Add a rectangle to the list
+                num_of_rec++;
+                // Draw initiated from top left corner
+                if(roi_x0<roi_x1 && roi_y0<roi_y1)
+                {
+                    temp_stream << " " << int2string(roi_x0) << " " << int2string(roi_y0) << " " << int2string(roi_x1-roi_x0) << " " << int2string(roi_y1-roi_y0);
+                }
+                // Draw initiated from bottom right corner
+                if(roi_x0>roi_x1 && roi_y0>roi_y1)
+                {
+                    temp_stream << " " << int2string(roi_x1) << " " << int2string(roi_y1) << " " << int2string(roi_x0-roi_x1) << " " << int2string(roi_y0-roi_y1);
+                }
+                // Draw initiated from top right corner
+                if(roi_x0>roi_x1 && roi_y0<roi_y1)
+                {
+                    temp_stream << " " << int2string(roi_x1) << " " << int2string(roi_y0) << " " << int2string(roi_x0-roi_x1) << " " << int2string(roi_y1-roi_y0);
+                }
+                // Draw initiated from bottom left corner
+                if(roi_x0<roi_x1 && roi_y0>roi_y1)
+                {
+                    temp_stream << " " << int2string(roi_x0) << " " << int2string(roi_y1) << " " << int2string(roi_x1-roi_x0) << " " << int2string(roi_y0-roi_y1);
+                }
+
+                rectangle(input_image, Point(roi_x0,roi_y0), Point(roi_x1,roi_y1), Scalar(0,255,0), 1);
+
+                break;
+        }
+
+        // Check if escape has been pressed
+        if(stop)
+        {
+            break;
+        }
+    }
+    // Continue as long as the next image key has not been pressed
+    while(key_pressed != 110);
+
+    // If there are annotations AND the next image key is pressed
+    // Write the image annotations to the file
+    if(num_of_rec>0 && key_pressed==110)
+    {
+        *output_stream << " " << num_of_rec << temp_stream.str() << endl;
+    }
+
+    // Close down the window
+    destroyWindow(window_name);
+}
+
+int main( int argc, const char** argv )
+{
+    // Read in the input arguments
+    string image_folder;
+    string annotations;
+    for(int i = 1; i < argc; ++i )
+    {
+        if( !strcmp( argv[i], "-images" ) )
+        {
+            image_folder = argv[++i];
+        }
+        else if( !strcmp( argv[i], "-annotations" ) )
+        {
+            annotations = argv[++i];
+        }
+    }
+
+    // Create the outputfilestream
+    ofstream output(annotations.c_str());
+
+    // Return the image filenames inside the image folder
+    vector<String> filenames;
+    String folder(image_folder);
+    glob(folder, filenames);
+
+    // Loop through each image stored in the images folder
+    // Create and temporarily store the annotations
+    // At the end write everything to the annotations file
+    for (size_t i = 0; i < filenames.size(); i++){
+        // Read in an image
+        Mat current_image = imread(filenames[i]);
+
+        // Perform annotations & generate corresponding output
+        stringstream output_stream;
+        get_annotations(current_image, &output_stream);
+
+        // Store the annotations, write to the output file
+        if (output_stream.str() != ""){
+            output << filenames[i] << output_stream.str();
+        }
+    }
+
+    return 0;
+}
@@ -29,6 +29,9 @@ set(cvhaartraining_lib_src
  cvhaarclassifier.cpp
  cvhaartraining.cpp
  cvsamples.cpp
+  cvsamplesoutput.cpp
+  cvsamplesoutput.h
+  ioutput.h
  )

 add_library(opencv_haartraining_engine STATIC ${cvhaartraining_lib_src})
@@ -50,10 +50,12 @@
 #include <cstdlib>
 #include <cmath>
 #include <ctime>
+#include <memory>

 using namespace std;

 #include "cvhaartraining.h"
+#include "ioutput.h"

 int main( int argc, char* argv[] )
 {
@@ -71,11 +73,12 @@ int main( int argc, char* argv[] )
    double maxxangle = 1.1;
    double maxyangle = 1.1;
    double maxzangle = 0.5;
-    int showsamples = 0;
+    bool showsamples = false;
    /* the samples are adjusted to this scale in the sample preview window */
    double scale = 4.0;
    int width  = 24;
    int height = 24;
+    bool pngoutput = false; /* whether to make the samples in png or in jpg*/

    srand((unsigned int)time(0));

@@ -92,7 +95,8 @@ int main( int argc, char* argv[] )
                "  [-maxyangle <max_y_rotation_angle = %f>]\n"
                "  [-maxzangle <max_z_rotation_angle = %f>]\n"
                "  [-show [<scale = %f>]]\n"
-                "  [-w <sample_width = %d>]\n  [-h <sample_height = %d>]\n",
+                "  [-w <sample_width = %d>]\n  [-h <sample_height = %d>]\n"
+                "  [-pngoutput]",
                argv[0], num, bgcolor, bgthreshold, maxintensitydev,
                maxxangle, maxyangle, maxzangle, scale, width, height );

@@ -155,7 +159,7 @@ int main( int argc, char* argv[] )
        }
        else if( !strcmp( argv[i], "-show" ) )
        {
-            showsamples = 1;
+            showsamples = true;
            if( i+1 < argc && strlen( argv[i+1] ) > 0 && argv[i+1][0] != '-' )
            {
                double d;
@@ -172,6 +176,10 @@ int main( int argc, char* argv[] )
        {
            height = atoi( argv[++i] );
        }
+        else if( !strcmp( argv[i], "-pngoutput" ) )
+        {
+            pngoutput = true;
+        }
    }

    printf( "Info file name: %s\n", ((infoname == NULL) ?   nullname : infoname ) );
@@ -190,10 +198,14 @@ int main( int argc, char* argv[] )
    printf( "Show samples: %s\n", (showsamples) ? "TRUE" : "FALSE" );
    if( showsamples )
    {
-        printf( "Scale: %g\n", scale );
+        printf( "Scale applied to display : %g\n", scale );
+    }
+    if( !pngoutput)
+    {
+        printf( "Original image will be scaled to:\n");
+        printf( "\tWidth: $backgroundWidth / %d\n", width );
+        printf( "\tHeight: $backgroundHeight / %d\n", height );
    }
-    printf( "Width: %d\n", width );
-    printf( "Height: %d\n", height );

    /* determine action */
    if( imagename && vecname )
@@ -207,13 +219,24 @@ int main( int argc, char* argv[] )

        printf( "Done\n" );
    }
-    else if( imagename && bgfilename && infoname )
+    else if( imagename && bgfilename && infoname)
    {
-        printf( "Create test samples from single image applying distortions...\n" );
+        printf( "Create data set from single image applying distortions...\n"
+                "Output format: %s\n",
+                (( pngoutput ) ? "PNG" : "JPG") );

-        cvCreateTestSamples( infoname, imagename, bgcolor, bgthreshold, bgfilename, num,
-            invert, maxintensitydev,
-            maxxangle, maxyangle, maxzangle, showsamples, width, height );
+        std::auto_ptr<DatasetGenerator> creator;
+        if( pngoutput )
+        {
+            creator = std::auto_ptr<DatasetGenerator>( new PngDatasetGenerator( infoname ) );
+        }
+        else
+        {
+            creator = std::auto_ptr<DatasetGenerator>( new JpgDatasetGenerator( infoname ) );
+        }
+        creator->create( imagename, bgcolor, bgthreshold, bgfilename, num,
+                        invert, maxintensitydev, maxxangle, maxyangle, maxzangle,
+                        showsamples, width, height );

        printf( "Done\n" );
    }
@@ -48,6 +48,8 @@
 #include "cvhaartraining.h"
 #include "_cvhaartraining.h"

+#include "ioutput.h"
+
 #include <cstdio>
 #include <cstdlib>
 #include <cmath>
@@ -2841,14 +2843,12 @@ void cvCreateTreeCascadeClassifier( const char* dirname,
    cvReleaseMat( &features_idx );
 }

-
-
 void cvCreateTrainingSamples( const char* filename,
                              const char* imgfilename, int bgcolor, int bgthreshold,
                              const char* bgfilename, int count,
                              int invert, int maxintensitydev,
                              double maxxangle, double maxyangle, double maxzangle,
-                              int showsamples,
+                              bool showsamples,
                              int winwidth, int winheight )
 {
    CvSampleDistortionData data;
@@ -2915,7 +2915,7 @@ void cvCreateTrainingSamples( const char* filename,
                    cvShowImage( "Sample", &sample );
                    if( cvWaitKey( 0 ) == 27 )
                    {
-                        showsamples = 0;
+                        showsamples = false;
                    }
                }

@@ -2942,45 +2942,43 @@ void cvCreateTrainingSamples( const char* filename,

 }

-#define CV_INFO_FILENAME "info.dat"
+DatasetGenerator::DatasetGenerator( IOutput* _writer )
+    :writer(_writer)
+{

+}

-void cvCreateTestSamples( const char* infoname,
-                          const char* imgfilename, int bgcolor, int bgthreshold,
-                          const char* bgfilename, int count,
-                          int invert, int maxintensitydev,
-                          double maxxangle, double maxyangle, double maxzangle,
-                          int showsamples,
-                          int winwidth, int winheight )
+void DatasetGenerator::showSamples(bool* show, CvMat *img) const
+{
+    if( *show )
+    {
+        cvShowImage( "Image", img);
+        if( cvWaitKey( 0 ) == 27 )
+        {
+            *show = false;
+        }
+    }
+}
+
+void DatasetGenerator::create(const char* imgfilename, int bgcolor, int bgthreshold,
+                              const char* bgfilename, int count,
+                              int invert, int maxintensitydev,
+                              double maxxangle, double maxyangle, double maxzangle,
+                              bool showsamples,
+                              int winwidth, int winheight )
 {
    CvSampleDistortionData data;

-    assert( infoname != NULL );
    assert( imgfilename != NULL );
    assert( bgfilename != NULL );

-    if( !icvMkDir( infoname ) )
-    {
-
-#if CV_VERBOSE
-        fprintf( stderr, "Unable to create directory hierarchy: %s\n", infoname );
-#endif /* CV_VERBOSE */
-
-        return;
-    }
    if( icvStartSampleDistortion( imgfilename, bgcolor, bgthreshold, &data ) )
    {
-        char fullname[PATH_MAX];
-        char* filename;
        CvMat win;
-        FILE* info;

        if( icvInitBackgroundReaders( bgfilename, cvSize( 10, 10 ) ) )
        {
            int i;
-            int x, y, width, height;
-            float scale;
-            float maxscale;
            int inverse;

            if( showsamples )
@@ -2988,73 +2986,112 @@ void cvCreateTestSamples( const char* infoname,
                cvNamedWindow( "Image", CV_WINDOW_AUTOSIZE );
            }

-            info = fopen( infoname, "w" );
-            strcpy( fullname, infoname );
-            filename = strrchr( fullname, '\\' );
-            if( filename == NULL )
-            {
-                filename = strrchr( fullname, '/' );
-            }
-            if( filename == NULL )
-            {
-                filename = fullname;
-            }
-            else
-            {
-                filename++;
-            }
-
            count = MIN( count, cvbgdata->count );
            inverse = invert;
+
            for( i = 0; i < count; i++ )
            {
                icvGetNextFromBackgroundData( cvbgdata, cvbgreader );

-                maxscale = MIN( 0.7F * cvbgreader->src.cols / winwidth,
-                                   0.7F * cvbgreader->src.rows / winheight );
-                if( maxscale < 1.0F ) continue;
+                CvRect boundingBox = getObjectPosition( cvSize( cvbgreader->src.cols,
+                                                                cvbgreader->src.rows ),
+                                                        cvGetSize(data.img),
+                                                        cvSize( winwidth, winheight ) );
+                if(boundingBox.width <= 0 || boundingBox.height <= 0)
+                {
+                    continue;
+                }

-                scale = (maxscale - 1.0F) * rand() / RAND_MAX + 1.0F;
-                width = (int) (scale * winwidth);
-                height = (int) (scale * winheight);
-                x = (int) ((0.1+0.8 * rand()/RAND_MAX) * (cvbgreader->src.cols - width));
-                y = (int) ((0.1+0.8 * rand()/RAND_MAX) * (cvbgreader->src.rows - height));
+                cvGetSubArr( &cvbgreader->src, &win, boundingBox );

-                cvGetSubArr( &cvbgreader->src, &win, cvRect( x, y ,width, height ) );
                if( invert == CV_RANDOM_INVERT )
                {
                    inverse = (rand() > (RAND_MAX/2));
                }
+
                icvPlaceDistortedSample( &win, inverse, maxintensitydev,
                                         maxxangle, maxyangle, maxzangle,
                                         1, 0.0, 0.0, &data );

+                writer->write( cvbgreader->src, boundingBox );

-                sprintf( filename, "%04d_%04d_%04d_%04d_%04d.jpg",
-                         (i + 1), x, y, width, height );
-
-                if( info )
-                {
-                    fprintf( info, "%s %d %d %d %d %d\n",
-                        filename, 1, x, y, width, height );
-                }
-
-                cvSaveImage( fullname, &cvbgreader->src );
-                if( showsamples )
-                {
-                    cvShowImage( "Image", &cvbgreader->src );
-                    if( cvWaitKey( 0 ) == 27 )
-                    {
-                        showsamples = 0;
-                    }
-                }
+                showSamples(&showsamples, &cvbgreader->src);
            }
-            if( info ) fclose( info );
            icvDestroyBackgroundReaders();
        }
        icvEndSampleDistortion( &data );
    }
 }

+DatasetGenerator::~DatasetGenerator()
+{
+    delete writer;
+}
+
+
+JpgDatasetGenerator::JpgDatasetGenerator( const char* filename )
+    :DatasetGenerator( IOutput::createOutput( filename, IOutput::JPG_DATASET ) )
+{
+}
+
+CvSize JpgDatasetGenerator::scaleObjectSize( const CvSize& bgImgSize,
+                                             const CvSize& ,
+                                             const CvSize& sampleSize) const
+{
+    float scale;
+    float maxscale;
+
+    maxscale = MIN( 0.7F * bgImgSize.width / sampleSize.width,
+                    0.7F * bgImgSize.height / sampleSize.height );
+    if( maxscale < 1.0F )
+    {
+        scale = -1.f;
+    }
+    else
+    {
+        scale = (maxscale - 1.0F) * rand() / RAND_MAX + 1.0F;
+    }
+
+    int width = (int) (scale * sampleSize.width);
+    int height = (int) (scale * sampleSize.height);
+
+    return cvSize( width, height );
+}
+
+CvRect DatasetGenerator::getObjectPosition(const CvSize& bgImgSize,
+                                           const CvSize& imgSize,
+                                           const CvSize& sampleSize) const
+{
+    CvSize size = scaleObjectSize( bgImgSize, imgSize, sampleSize );
+
+    int width = size.width;
+    int height = size.height;
+    int x = (int) ((0.1 + 0.8 * rand() / RAND_MAX) * (bgImgSize.width - width));
+    int y = (int) ((0.1 + 0.8 * rand() / RAND_MAX) * (bgImgSize.height - height));
+
+    return cvRect( x, y, width, height );
+}
+
+
+PngDatasetGenerator::PngDatasetGenerator(const char* filename)
+    :DatasetGenerator( IOutput::createOutput( filename, IOutput::PNG_DATASET ) )
+{
+}
+
+CvSize PngDatasetGenerator::scaleObjectSize( const CvSize& bgImgSize,
+                                             const CvSize& imgSize,
+                                             const CvSize& ) const
+{
+    float scale;
+
+    scale = MIN( 0.3F * bgImgSize.width / imgSize.width,
+                 0.3F * bgImgSize.height / imgSize.height );
+
+
+    int width = (int) (scale * imgSize.width);
+    int height = (int) (scale * imgSize.height);
+
+    return cvSize( width, height );
+}

 /* End of file. */
@@ -48,6 +48,11 @@
 #ifndef _CVHAARTRAINING_H_
 #define _CVHAARTRAINING_H_

+class IOutput;
+struct CvRect;
+struct CvSize;
+struct CvMat;
+
 /*
 * cvCreateTrainingSamples
 *
@@ -74,23 +79,30 @@
 */
 #define CV_RANDOM_INVERT 0x7FFFFFFF

-void cvCreateTrainingSamples( const char* filename,
+void cvCreateTrainingSamples(const char* filename,
                              const char* imgfilename, int bgcolor, int bgthreshold,
                              const char* bgfilename, int count,
                              int invert = 0, int maxintensitydev = 40,
                              double maxxangle = 1.1,
                              double maxyangle = 1.1,
                              double maxzangle = 0.5,
-                              int showsamples = 0,
+                              bool showsamples = false,
                              int winwidth = 24, int winheight = 24 );

-void cvCreateTestSamples( const char* infoname,
-                          const char* imgfilename, int bgcolor, int bgthreshold,
+void cvCreatePngTrainingSet(const char* imgfilename, int bgcolor, int bgthreshold,
+                            const char* bgfilename, int count,
+                            int invert, int maxintensitydev,
+                            double maxxangle, double maxyangle, double maxzangle,
+                            int winwidth, int winheight,
+                            IOutput *writer );
+
+void cvCreateTestSamples(const char* imgfilename, int bgcolor, int bgthreshold,
                          const char* bgfilename, int count,
                          int invert, int maxintensitydev,
                          double maxxangle, double maxyangle, double maxzangle,
                          int showsamples,
-                          int winwidth, int winheight );
+                          int winwidth, int winheight,
+                          IOutput* writer);

 /*
 * cvCreateTrainingSamplesFromInfo
@@ -189,4 +201,50 @@ void cvCreateTreeCascadeClassifier( const char* dirname,
                                    int boosttype, int stumperror,
                                    int maxtreesplits, int minpos, bool bg_vecfile = false );

+
+class DatasetGenerator
+{
+public:
+    DatasetGenerator( IOutput* _writer );
+    void create( const char* imgfilename, int bgcolor, int bgthreshold,
+                 const char* bgfilename, int count,
+                 int invert, int maxintensitydev,
+                 double maxxangle, double maxyangle, double maxzangle,
+                 bool showsamples,
+                 int winwidth, int winheight);
+    virtual ~DatasetGenerator();
+private:
+    virtual void showSamples( bool* showSamples, CvMat* img ) const;
+
+    CvRect getObjectPosition( const CvSize& bgImgSize,
+                              const CvSize& imgSize,
+                              const CvSize& sampleSize ) const;
+    virtual CvSize scaleObjectSize(const CvSize& bgImgSize,
+                                   const CvSize& imgSize ,
+                                   const CvSize& sampleSize) const =0 ;
+private:
+    IOutput* writer;
+};
+
+/* Provides the functionality of test set generating */
+class JpgDatasetGenerator: public DatasetGenerator
+{
+public:
+    JpgDatasetGenerator(const char* filename);
+private:
+    CvSize scaleObjectSize(const CvSize& bgImgSize,
+                           const CvSize& ,
+                           const CvSize& sampleSize) const;
+};
+
+class PngDatasetGenerator: public DatasetGenerator
+{
+public:
+    PngDatasetGenerator(const char *filename);
+private:
+    CvSize scaleObjectSize(const CvSize& bgImgSize,
+                           const CvSize& imgSize ,
+                           const CvSize& ) const;
+};
+
 #endif /* _CVHAARTRAINING_H_ */
@@ -0,0 +1,227 @@
+#include "cvsamplesoutput.h"
+
+#include <cstdio>
+
+#include "_cvcommon.h"
+#include "highgui.h"
+
+/* print statistic info */
+#define CV_VERBOSE 1
+
+IOutput::IOutput()
+    : currentIdx(0)
+{}
+
+void IOutput::findFilePathPart(char **partOfPath, char *fullPath)
+{
+    *partOfPath = strrchr( fullPath, '\\' );
+    if( *partOfPath == NULL )
+    {
+        *partOfPath = strrchr( fullPath, '/' );
+    }
+    if( *partOfPath == NULL )
+    {
+        *partOfPath = fullPath;
+    }
+    else
+    {
+        *partOfPath += 1;
+    }
+}
+
+IOutput* IOutput::createOutput(const char *filename,
+                               IOutput::OutputType type)
+{
+    IOutput* output = 0;
+    switch (type) {
+    case IOutput::PNG_DATASET:
+        output = new PngDatasetOutput();
+        break;
+    case IOutput::JPG_DATASET:
+        output = new JpgDatasetOutput();
+        break;
+    default:
+#if CV_VERBOSE
+        fprintf( stderr, "Invalid output type, valid types are: PNG_TRAINING_SET, JPG_TEST_SET");
+#endif /* CV_VERBOSE */
+        return 0;
+    }
+
+    if ( output->init( filename ) )
+        return output;
+    else
+        return 0;
+}
+
+bool PngDatasetOutput::init( const char* annotationsListFileName )
+{
+    IOutput::init( annotationsListFileName );
+
+    if(imgFileName == imgFullPath)
+    {
+        #if CV_VERBOSE
+                fprintf( stderr, "Invalid path to annotations file: %s\n"
+                                 "It should contain a parent directory name\n", imgFullPath );
+        #endif /* CV_VERBOSE */
+        return false;
+    }
+
+
+    const char* annotationsdirname = "/annotations/";
+    const char* positivesdirname = "/pos/";
+
+    imgFileName[-1] = '\0'; //erase slash at the end of the path
+    imgFileName -= 1;
+
+    //copy path to dataset top-level dir
+    strcpy(annotationFullPath, imgFullPath);
+    //find the name of annotation starting from the top-level dataset dir
+    findFilePathPart(&annotationRelativePath, annotationFullPath);
+    if( !strcmp( annotationRelativePath, ".." ) || !strcmp( annotationRelativePath, "." ) )
+    {
+        #if CV_VERBOSE
+                fprintf( stderr, "Invalid path to annotations file: %s\n"
+                                 "It should contain a parent directory name\n", annotationsListFileName );
+        #endif /* CV_VERBOSE */
+        return false;
+    }
+    //find the name of output image starting from the top-level dataset dir
+    findFilePathPart(&imgRelativePath, imgFullPath);
+    annotationFileName = annotationFullPath + strlen(annotationFullPath);
+
+    sprintf(annotationFileName, "%s", annotationsdirname);
+    annotationFileName += strlen(annotationFileName);
+    sprintf(imgFileName, "%s", positivesdirname);
+    imgFileName += strlen(imgFileName);
+
+    if( !icvMkDir( annotationFullPath ) )
+    {
+        #if CV_VERBOSE
+                fprintf( stderr, "Unable to create directory hierarchy: %s\n", annotationFullPath );
+        #endif /* CV_VERBOSE */
+        return false;
+    }
+    if( !icvMkDir( imgFullPath ) )
+    {
+        #if CV_VERBOSE
+                fprintf( stderr, "Unable to create directory hierarchy: %s\n", imgFullPath );
+        #endif /* CV_VERBOSE */
+        return false;
+    }
+
+    return true;
+}
+
+bool PngDatasetOutput::write( const CvMat& img,
+                              const CvRect& boundingBox )
+{
+    CvRect bbox = addBoundingboxBorder(boundingBox);
+
+    sprintf( imgFileName,
+             "%04d_%04d_%04d_%04d_%04d",
+             ++currentIdx,
+             bbox.x,
+             bbox.y,
+             bbox.width,
+             bbox.height );
+
+    sprintf( annotationFileName, "%s.txt", imgFileName );
+    fprintf( annotationsList, "%s\n", annotationRelativePath );
+
+    FILE* annotationFile = fopen( annotationFullPath, "w" );
+    if(annotationFile == 0)
+    {
+        return false;
+    }
+
+    sprintf( imgFileName + strlen(imgFileName), ".%s", extension );
+
+
+
+    fprintf( annotationFile,
+             "Image filename : \"%s\"\n"
+             "Bounding box for object 1 \"PASperson\" (Xmin, Ymin) - (Xmax, Ymax) : (%d, %d) - (%d, %d)",
+             imgRelativePath,
+             bbox.x,
+             bbox.y,
+             bbox.x + bbox.width,
+             bbox.y + bbox.height );
+    fclose( annotationFile );
+
+    cvSaveImage( imgFullPath, &img);
+
+    return true;
+}
+
+CvRect PngDatasetOutput::addBoundingboxBorder(const CvRect& bbox) const
+{
+    CvRect boundingBox = bbox;
+    int border = 5;
+
+    boundingBox.x -= border;
+    boundingBox.y -= border;
+    boundingBox.width += 2*border;
+    boundingBox.height += 2*border;
+
+    return boundingBox;
+}
+
+IOutput::~IOutput()
+{
+    if(annotationsList)
+    {
+        fclose(annotationsList);
+    }
+}
+
+bool IOutput::init(const char *filename)
+{
+    assert( filename != NULL );
+
+    if( !icvMkDir( filename ) )
+    {
+
+#if CV_VERBOSE
+        fprintf( stderr, "Unable to create directory hierarchy: %s\n", filename );
+#endif /* CV_VERBOSE */
+
+        return false;
+    }
+
+    annotationsList = fopen( filename, "w" );
+    if( annotationsList == NULL )
+    {
+#if CV_VERBOSE
+        fprintf( stderr, "Unable to create info file: %s\n", filename );
+#endif /* CV_VERBOSE */
+        return false;
+    }
+    strcpy( imgFullPath, filename );
+
+    findFilePathPart( &imgFileName, imgFullPath );
+
+    return true;
+}
+
+bool JpgDatasetOutput::write( const CvMat& img,
+                               const CvRect& boundingBox )
+{
+    sprintf( imgFileName, "%04d_%04d_%04d_%04d_%04d.jpg",
+             ++currentIdx,
+             boundingBox.x,
+             boundingBox.y,
+             boundingBox.width,
+             boundingBox.height );
+
+   fprintf( annotationsList, "%s %d %d %d %d %d\n",
+            imgFileName,
+            1,
+            boundingBox.x,
+            boundingBox.y,
+            boundingBox.width,
+            boundingBox.height );
+
+    cvSaveImage( imgFullPath, &img);
+
+    return true;
+}
@@ -0,0 +1,46 @@
+#ifndef CVSAMPLESOUTPUT_H
+#define CVSAMPLESOUTPUT_H
+
+#include "ioutput.h"
+
+class PngDatasetOutput: public IOutput
+{
+    friend IOutput* IOutput::createOutput(const char *filename, OutputType type);
+public:
+    virtual bool write( const CvMat& img,
+                        const CvRect& boundingBox);
+
+    virtual ~PngDatasetOutput(){}
+private:
+    PngDatasetOutput()
+        : extension("png")
+        , destImgWidth(640)
+        , destImgHeight(480)
+    {}
+
+    virtual bool init(const char* annotationsListFileName );
+
+    CvRect addBoundingboxBorder(const CvRect& bbox) const;
+private:
+
+    char annotationFullPath[PATH_MAX];
+    char* annotationFileName;
+    char* annotationRelativePath;
+    char* imgRelativePath;
+    const char* extension;
+
+    int destImgWidth;
+    int destImgHeight ;
+};
+
+class JpgDatasetOutput: public IOutput
+{
+    friend IOutput* IOutput::createOutput(const char *filename, OutputType type);
+public:
+    virtual bool write( const CvMat& img,
+                        const CvRect& boundingBox );
+    virtual ~JpgDatasetOutput(){}
+private:
+    JpgDatasetOutput(){}
+};
+#endif // CVSAMPLESOUTPUT_H
@@ -0,0 +1,34 @@
+#ifndef IOUTPUT_H
+#define IOUTPUT_H
+
+#include <cstdio>
+
+#include "_cvcommon.h"
+
+struct CvMat;
+struct CvRect;
+
+class IOutput
+{
+public:
+    enum OutputType {PNG_DATASET, JPG_DATASET};
+public:
+    virtual bool write( const CvMat& img,
+                        const CvRect& boundingBox ) =0;
+
+    virtual ~IOutput();
+
+    static IOutput* createOutput( const char *filename, OutputType type );
+protected:
+    IOutput();
+    /* finds the beginning of the last token in the path */
+    void findFilePathPart( char **partOfPath, char *fullPath );
+    virtual bool init( const char* filename );
+protected:
+    int  currentIdx;
+    char imgFullPath[PATH_MAX];
+    char* imgFileName;
+    FILE* annotationsList;
+};
+
+#endif // IOUTPUT_H
@@ -169,6 +169,13 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
        featureEvaluator = CvFeatureEvaluator::create(cascadeParams.featureType);
        featureEvaluator->init( (CvFeatureParams*)featureParams, numPos + numNeg, cascadeParams.winSize );
        stageClassifiers.reserve( numStages );
+    }else{
+        // Make sure that if model parameters are preloaded, that people are aware of this,
+        // even when passing other parameters to the training command
+        cout << "---------------------------------------------------------------------------------" << endl;
+        cout << "Training parameters are pre-loaded from the parameter file in data folder!" << endl;
+        cout << "Please empty this folder if you want to use a NEW set of training parameters." << endl;
+        cout << "---------------------------------------------------------------------------------" << endl;
    }
    cout << "PARAMETERS:" << endl;
    cout << "cascadeDirName: " << _cascadeDirName << endl;
@@ -198,7 +205,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
        cout << endl << "===== TRAINING " << i << "-stage =====" << endl;
        cout << "<BEGIN" << endl;

-        if ( !updateTrainingSet( tempLeafFARate ) )
+        if ( !updateTrainingSet( requiredLeafFARate, tempLeafFARate ) )
        {
            cout << "Train dataset for temp stage can not be filled. "
                "Branch training terminated." << endl;
@@ -284,17 +291,17 @@ int CvCascadeClassifier::predict( int sampleIdx )
    return 1;
 }

-bool CvCascadeClassifier::updateTrainingSet( double& acceptanceRatio)
+bool CvCascadeClassifier::updateTrainingSet( double minimumAcceptanceRatio, double& acceptanceRatio)
 {
    int64 posConsumed = 0, negConsumed = 0;
    imgReader.restart();
-    int posCount = fillPassedSamples( 0, numPos, true, posConsumed );
+    int posCount = fillPassedSamples( 0, numPos, true, 0, posConsumed );
    if( !posCount )
        return false;
    cout << "POS count : consumed   " << posCount << " : " << (int)posConsumed << endl;

    int proNumNeg = cvRound( ( ((double)numNeg) * ((double)posCount) ) / numPos ); // apply only a fraction of negative samples. double is required since overflow is possible
-    int negCount = fillPassedSamples( posCount, proNumNeg, false, negConsumed );
+    int negCount = fillPassedSamples( posCount, proNumNeg, false, minimumAcceptanceRatio, negConsumed );
    if ( !negCount )
        return false;

@@ -304,7 +311,7 @@ bool CvCascadeClassifier::updateTrainingSet( double& acceptanceRatio)
    return true;
 }

-int CvCascadeClassifier::fillPassedSamples( int first, int count, bool isPositive, int64& consumed )
+int CvCascadeClassifier::fillPassedSamples( int first, int count, bool isPositive, double minimumAcceptanceRatio, int64& consumed )
 {
    int getcount = 0;
    Mat img(cascadeParams.winSize, CV_8UC1);
@@ -312,6 +319,9 @@ int CvCascadeClassifier::fillPassedSamples( int first, int count, bool isPositiv
    {
        for( ; ; )
        {
+            if( consumed != 0 && ((double)getcount+1)/(double)(int64)consumed <= minimumAcceptanceRatio )
+                return getcount;
+
            bool isGetImg = isPositive ? imgReader.getPos( img ) :
                                           imgReader.getNeg( img );
            if( !isGetImg )
@@ -101,8 +101,8 @@ private:
    int predict( int sampleIdx );
    void save( const std::string cascadeDirName, bool baseFormat = false );
    bool load( const std::string cascadeDirName );
-    bool updateTrainingSet( double& acceptanceRatio );
-    int fillPassedSamples( int first, int count, bool isPositive, int64& consumed );
+    bool updateTrainingSet( double minimumAcceptanceRatio, double& acceptanceRatio );
+    int fillPassedSamples( int first, int count, bool isPositive, double requiredAcceptanceRatio, int64& consumed );

    void writeParams( cv::FileStorage &fs ) const;
    void writeStages( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
@@ -1,10 +1,11 @@
 #ifndef _OPENCV_IMAGESTORAGE_H_
 #define _OPENCV_IMAGESTORAGE_H_

+#include <stdio.h>
+#include <string>
+#include <vector>
 #include "highgui.h"

-
-
 class CvCascadeImageReader
 {
 public:
@@ -31,10 +31,8 @@
 # The following variables affect the behavior of the macros in the
 # script (in alphebetical order).  Note that any of these flags can be
 # changed multiple times in the same directory before calling
-# CUDA_ADD_EXECUTABLE, CUDA_ADD_LIBRARY, CUDA_COMPILE, CUDA_COMPILE_PTX
-# or CUDA_WRAP_SRCS.
-#
-# ::
+# CUDA_ADD_EXECUTABLE, CUDA_ADD_LIBRARY, CUDA_COMPILE, CUDA_COMPILE_PTX,
+# CUDA_COMPILE_FATBIN, CUDA_COMPILE_CUBIN or CUDA_WRAP_SRCS::
 #
 #   CUDA_64_BIT_DEVICE_CODE (Default matches host bit size)
 #   -- Set to ON to compile for 64 bit device code, OFF for 32 bit device code.
@@ -43,19 +41,11 @@
 #      nvcc in the generated source.  If you compile to PTX and then load the
 #      file yourself, you can mix bit sizes between device and host.
 #
-#
-#
-# ::
-#
 #   CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE (Default ON)
 #   -- Set to ON if you want the custom build rule to be attached to the source
 #      file in Visual Studio.  Turn OFF if you add the same cuda file to multiple
 #      targets.
 #
-#
-#
-# ::
-#
 #      This allows the user to build the target from the CUDA file; however, bad
 #      things can happen if the CUDA source file is added to multiple targets.
 #      When performing parallel builds it is possible for the custom build
@@ -68,44 +58,24 @@
 #      this script could detect the reuse of source files across multiple targets
 #      and turn the option off for the user, but no good solution could be found.
 #
-#
-#
-# ::
-#
 #   CUDA_BUILD_CUBIN (Default OFF)
 #   -- Set to ON to enable and extra compilation pass with the -cubin option in
 #      Device mode. The output is parsed and register, shared memory usage is
 #      printed during build.
 #
-#
-#
-# ::
-#
 #   CUDA_BUILD_EMULATION (Default OFF for device mode)
 #   -- Set to ON for Emulation mode. -D_DEVICEEMU is defined for CUDA C files
 #      when CUDA_BUILD_EMULATION is TRUE.
 #
-#
-#
-# ::
-#
 #   CUDA_GENERATED_OUTPUT_DIR (Default CMAKE_CURRENT_BINARY_DIR)
 #   -- Set to the path you wish to have the generated files placed.  If it is
 #      blank output files will be placed in CMAKE_CURRENT_BINARY_DIR.
 #      Intermediate files will always be placed in
 #      CMAKE_CURRENT_BINARY_DIR/CMakeFiles.
 #
-#
-#
-# ::
-#
 #   CUDA_HOST_COMPILATION_CPP (Default ON)
 #   -- Set to OFF for C compilation of host code.
 #
-#
-#
-# ::
-#
 #   CUDA_HOST_COMPILER (Default CMAKE_C_COMPILER, $(VCInstallDir)/bin for VS)
 #   -- Set the host compiler to be used by nvcc.  Ignored if -ccbin or
 #      --compiler-bindir is already present in the CUDA_NVCC_FLAGS or
@@ -113,19 +83,11 @@
 #      $(VCInstallDir)/bin is a special value that expands out to the path when
 #      the command is run from withing VS.
 #
-#
-#
-# ::
-#
 #   CUDA_NVCC_FLAGS
 #   CUDA_NVCC_FLAGS_<CONFIG>
 #   -- Additional NVCC command line arguments.  NOTE: multiple arguments must be
 #      semi-colon delimited (e.g. --compiler-options;-Wall)
 #
-#
-#
-# ::
-#
 #   CUDA_PROPAGATE_HOST_FLAGS (Default ON)
 #   -- Set to ON to propagate CMAKE_{C,CXX}_FLAGS and their configuration
 #      dependent counterparts (e.g. CMAKE_C_FLAGS_DEBUG) automatically to the
@@ -137,10 +99,6 @@
 #      CUDA_ADD_LIBRARY, CUDA_ADD_EXECUTABLE, or CUDA_WRAP_SRCS.  Flags used for
 #      shared library compilation are not affected by this flag.
 #
-#
-#
-# ::
-#
 #   CUDA_SEPARABLE_COMPILATION (Default OFF)
 #   -- If set this will enable separable compilation for all CUDA runtime object
 #      files.  If used outside of CUDA_ADD_EXECUTABLE and CUDA_ADD_LIBRARY
@@ -148,38 +106,22 @@
 #      CUDA_COMPUTE_SEPARABLE_COMPILATION_OBJECT_FILE_NAME and
 #      CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS should be called.
 #
-#
-#
-# ::
-#
 #   CUDA_VERBOSE_BUILD (Default OFF)
 #   -- Set to ON to see all the commands used when building the CUDA file.  When
 #      using a Makefile generator the value defaults to VERBOSE (run make
 #      VERBOSE=1 to see output), although setting CUDA_VERBOSE_BUILD to ON will
 #      always print the output.
 #
-#
-#
-# The script creates the following macros (in alphebetical order):
-#
-# ::
+# The script creates the following macros (in alphebetical order)::
 #
 #   CUDA_ADD_CUFFT_TO_TARGET( cuda_target )
 #   -- Adds the cufft library to the target (can be any target).  Handles whether
 #      you are in emulation mode or not.
 #
-#
-#
-# ::
-#
 #   CUDA_ADD_CUBLAS_TO_TARGET( cuda_target )
 #   -- Adds the cublas library to the target (can be any target).  Handles
 #      whether you are in emulation mode or not.
 #
-#
-#
-# ::
-#
 #   CUDA_ADD_EXECUTABLE( cuda_target file0 file1 ...
 #                        [WIN32] [MACOSX_BUNDLE] [EXCLUDE_FROM_ALL] [OPTIONS ...] )
 #   -- Creates an executable "cuda_target" which is made up of the files
@@ -193,42 +135,28 @@
 #      nvcc.  Such flags should be modified before calling CUDA_ADD_EXECUTABLE,
 #      CUDA_ADD_LIBRARY or CUDA_WRAP_SRCS.
 #
-#
-#
-# ::
-#
 #   CUDA_ADD_LIBRARY( cuda_target file0 file1 ...
 #                     [STATIC | SHARED | MODULE] [EXCLUDE_FROM_ALL] [OPTIONS ...] )
 #   -- Same as CUDA_ADD_EXECUTABLE except that a library is created.
 #
-#
-#
-# ::
-#
 #   CUDA_BUILD_CLEAN_TARGET()
 #   -- Creates a convience target that deletes all the dependency files
 #      generated.  You should make clean after running this target to ensure the
 #      dependency files get regenerated.
 #
-#
-#
-# ::
-#
 #   CUDA_COMPILE( generated_files file0 file1 ... [STATIC | SHARED | MODULE]
 #                 [OPTIONS ...] )
 #   -- Returns a list of generated files from the input source files to be used
 #      with ADD_LIBRARY or ADD_EXECUTABLE.
 #
-#
-#
-# ::
-#
 #   CUDA_COMPILE_PTX( generated_files file0 file1 ... [OPTIONS ...] )
 #   -- Returns a list of PTX files generated from the input source files.
 #
+#   CUDA_COMPILE_FATBIN( generated_files file0 file1 ... [OPTIONS ...] )
+#   -- Returns a list of FATBIN files generated from the input source files.
 #
-#
-# ::
+#   CUDA_COMPILE_CUBIN( generated_files file0 file1 ... [OPTIONS ...] )
+#   -- Returns a list of CUBIN files generated from the input source files.
 #
 #   CUDA_COMPUTE_SEPARABLE_COMPILATION_OBJECT_FILE_NAME( output_file_var
 #                                                        cuda_target
@@ -242,10 +170,6 @@
 #      automatically for CUDA_ADD_LIBRARY and CUDA_ADD_EXECUTABLE.  Note that
 #      this is a function and not a macro.
 #
-#
-#
-# ::
-#
 #   CUDA_INCLUDE_DIRECTORIES( path0 path1 ... )
 #   -- Sets the directories that should be passed to nvcc
 #      (e.g. nvcc -Ipath0 -Ipath1 ... ). These paths usually contain other .cu
@@ -253,17 +177,9 @@
 #
 #
 #
-#
-#
-# ::
-#
 #   CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS( output_file_var cuda_target
 #                                            nvcc_flags object_files)
 #
-#
-#
-# ::
-#
 #   -- Generates the link object required by separable compilation from the given
 #      object files.  This is called automatically for CUDA_ADD_EXECUTABLE and
 #      CUDA_ADD_LIBRARY, but can be called manually when using CUDA_WRAP_SRCS
@@ -273,91 +189,51 @@
 #      specified by CUDA_64_BIT_DEVICE_CODE.  Note that this is a function
 #      instead of a macro.
 #
-#
-#
-# ::
-#
 #   CUDA_WRAP_SRCS ( cuda_target format generated_files file0 file1 ...
 #                    [STATIC | SHARED | MODULE] [OPTIONS ...] )
 #   -- This is where all the magic happens.  CUDA_ADD_EXECUTABLE,
 #      CUDA_ADD_LIBRARY, CUDA_COMPILE, and CUDA_COMPILE_PTX all call this
 #      function under the hood.
 #
-#
-#
-# ::
-#
 #      Given the list of files (file0 file1 ... fileN) this macro generates
 #      custom commands that generate either PTX or linkable objects (use "PTX" or
 #      "OBJ" for the format argument to switch).  Files that don't end with .cu
 #      or have the HEADER_FILE_ONLY property are ignored.
 #
-#
-#
-# ::
-#
 #      The arguments passed in after OPTIONS are extra command line options to
 #      give to nvcc.  You can also specify per configuration options by
 #      specifying the name of the configuration followed by the options.  General
 #      options must preceed configuration specific options.  Not all
 #      configurations need to be specified, only the ones provided will be used.
 #
-#
-#
-# ::
-#
 #         OPTIONS -DFLAG=2 "-DFLAG_OTHER=space in flag"
 #         DEBUG -g
 #         RELEASE --use_fast_math
 #         RELWITHDEBINFO --use_fast_math;-g
 #         MINSIZEREL --use_fast_math
 #
-#
-#
-# ::
-#
 #      For certain configurations (namely VS generating object files with
 #      CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE set to ON), no generated file will
 #      be produced for the given cuda file.  This is because when you add the
 #      cuda file to Visual Studio it knows that this file produces an object file
 #      and will link in the resulting object file automatically.
 #
-#
-#
-# ::
-#
 #      This script will also generate a separate cmake script that is used at
 #      build time to invoke nvcc.  This is for several reasons.
 #
-#
-#
-# ::
-#
 #        1. nvcc can return negative numbers as return values which confuses
 #        Visual Studio into thinking that the command succeeded.  The script now
 #        checks the error codes and produces errors when there was a problem.
 #
-#
-#
-# ::
-#
 #        2. nvcc has been known to not delete incomplete results when it
 #        encounters problems.  This confuses build systems into thinking the
 #        target was generated when in fact an unusable file exists.  The script
 #        now deletes the output files if there was an error.
 #
-#
-#
-# ::
-#
 #        3. By putting all the options that affect the build into a file and then
 #        make the build rule dependent on the file, the output files will be
 #        regenerated when the options change.
 #
-#
-#
-# ::
-#
 #      This script also looks at optional arguments STATIC, SHARED, or MODULE to
 #      determine when to target the object compilation for a shared library.
 #      BUILD_SHARED_LIBS is ignored in CUDA_WRAP_SRCS, but it is respected in
@@ -366,27 +242,17 @@
 #      <target_name>_EXPORTS is defined when a shared library compilation is
 #      detected.
 #
-#
-#
-# ::
-#
 #      Flags passed into add_definitions with -D or /D are passed along to nvcc.
 #
 #
 #
-# The script defines the following variables:
-#
-# ::
+# The script defines the following variables::
 #
 #   CUDA_VERSION_MAJOR    -- The major version of cuda as reported by nvcc.
 #   CUDA_VERSION_MINOR    -- The minor version.
 #   CUDA_VERSION
 #   CUDA_VERSION_STRING   -- CUDA_VERSION_MAJOR.CUDA_VERSION_MINOR
 #
-#
-#
-# ::
-#
 #   CUDA_TOOLKIT_ROOT_DIR -- Path to the CUDA Toolkit (defined if not set).
 #   CUDA_SDK_ROOT_DIR     -- Path to the CUDA SDK.  Use this to find files in the
 #                            SDK.  This script will not directly support finding
@@ -412,13 +278,13 @@
 #                            Only available for CUDA version 3.2+.
 #   CUDA_cusparse_LIBRARY -- CUDA Sparse Matrix library.
 #                            Only available for CUDA version 3.2+.
-#   CUDA_npp_LIBRARY      -- NVIDIA Performance Primitives library.
+#   CUDA_npp_LIBRARY      -- NVIDIA Performance Primitives lib.
 #                            Only available for CUDA version 4.0+.
-#   CUDA_nppc_LIBRARY      -- NVIDIA Performance Primitives library (core).
+#   CUDA_nppc_LIBRARY     -- NVIDIA Performance Primitives lib (core).
 #                            Only available for CUDA version 5.5+.
-#   CUDA_nppi_LIBRARY      -- NVIDIA Performance Primitives library (image processing).
+#   CUDA_nppi_LIBRARY     -- NVIDIA Performance Primitives lib (image processing).
 #                            Only available for CUDA version 5.5+.
-#   CUDA_npps_LIBRARY      -- NVIDIA Performance Primitives library (signal processing).
+#   CUDA_npps_LIBRARY     -- NVIDIA Performance Primitives lib (signal processing).
 #                            Only available for CUDA version 5.5+.
 #   CUDA_nvcuvenc_LIBRARY -- CUDA Video Encoder library.
 #                            Only available for CUDA version 3.2+.
@@ -427,32 +293,15 @@
 #                            Only available for CUDA version 3.2+.
 #                            Windows only.
 #
-#
-#
-#
-#
-# ::
-#
+
 #   James Bigler, NVIDIA Corp (nvidia.com - jbigler)
 #   Abe Stephens, SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html
 #
-#
-#
-# ::
-#
 #   Copyright (c) 2008 - 2009 NVIDIA Corporation.  All rights reserved.
 #
-#
-#
-# ::
-#
 #   Copyright (c) 2007-2009
 #   Scientific Computing and Imaging Institute, University of Utah
 #
-#
-#
-# ::
-#
 #   This code is licensed under the MIT License.  See the FindCUDA.cmake script
 #   for the text of the license.

@@ -481,11 +330,6 @@

 # FindCUDA.cmake

-# We need to have at least this version to support the VERSION_LESS argument to 'if' (2.6.2) and unset (2.6.3)
-cmake_policy(PUSH)
-cmake_minimum_required(VERSION 2.6.3)
-cmake_policy(POP)
-
 # This macro helps us find the location of helper files we will need the full path to
 macro(CUDA_FIND_HELPER_FILE _name _extension)
  set(_full_name "${_name}.${_extension}")
@@ -608,7 +452,17 @@ set(CUDA_NVCC_FLAGS "" CACHE STRING "Semi-colon delimit multiple arguments.")
 if(CMAKE_GENERATOR MATCHES "Visual Studio")
  set(CUDA_HOST_COMPILER "$(VCInstallDir)bin" CACHE FILEPATH "Host side compiler used by NVCC")
 else()
-  set(CUDA_HOST_COMPILER "${CMAKE_C_COMPILER}" CACHE FILEPATH "Host side compiler used by NVCC")
+  # Using cc which is symlink to clang may let NVCC think it is GCC and issue
+  # unhandled -dumpspecs option to clang. Also in case neither
+  # CMAKE_C_COMPILER is defined (project does not use C language) nor
+  # CUDA_HOST_COMPILER is specified manually we should skip -ccbin and let
+  # nvcc use its own default C compiler.
+  if(DEFINED CMAKE_C_COMPILER AND NOT DEFINED CUDA_HOST_COMPILER)
+    get_filename_component(c_compiler_realpath "${CMAKE_C_COMPILER}" REALPATH)
+  else()
+    set(c_compiler_realpath "")
+  endif()
+  set(CUDA_HOST_COMPILER "${c_compiler_realpath}" CACHE FILEPATH "Host side compiler used by NVCC")
 endif()

 # Propagate the host flags to the host compiler via -Xcompiler
@@ -675,14 +529,16 @@ endmacro()

 # Check to see if the CUDA_TOOLKIT_ROOT_DIR and CUDA_SDK_ROOT_DIR have changed,
 # if they have then clear the cache variables, so that will be detected again.
-if(NOT "${CUDA_TOOLKIT_ROOT_DIR}" STREQUAL "${CUDA_TOOLKIT_ROOT_DIR_INTERNAL}")
+if(DEFINED CUDA_TOOLKIT_ROOT_DIR_INTERNAL AND (NOT "${CUDA_TOOLKIT_ROOT_DIR}" STREQUAL "${CUDA_TOOLKIT_ROOT_DIR_INTERNAL}"))
+  unset(CUDA_TARGET_TRIPLET CACHE)
  unset(CUDA_TOOLKIT_TARGET_DIR CACHE)
  unset(CUDA_NVCC_EXECUTABLE CACHE)
  unset(CUDA_VERSION CACHE)
  cuda_unset_include_and_libraries()
 endif()

-if(NOT "${CUDA_TOOLKIT_TARGET_DIR}" STREQUAL "${CUDA_TOOLKIT_TARGET_DIR_INTERNAL}")
+if(DEFINED CUDA_TARGET_TRIPLET_INTERNAL AND (NOT "${CUDA_TARGET_TRIPLET}" STREQUAL "${CUDA_TARGET_TRIPLET_INTERNAL}") OR
+   (DEFINED CUDA_TOOLKIT_TARGET_DIR  AND DEFINED CUDA_TOOLKIT_TARGET_DIR_INTERNAL AND NOT "${CUDA_TOOLKIT_TARGET_DIR}" STREQUAL "${CUDA_TOOLKIT_TARGET_DIR_INTERNAL}"))
  cuda_unset_include_and_libraries()
 endif()

@@ -758,27 +614,46 @@ endif()
 # Always set this convenience variable
 set(CUDA_VERSION_STRING "${CUDA_VERSION}")

-# Support for arm cross compilation with CUDA 5.5
-set(__cuda_toolkit_target_dir_initial "${CUDA_TOOLKIT_ROOT_DIR}")
-if(CUDA_VERSION VERSION_GREATER "5.0" AND CMAKE_CROSSCOMPILING AND ${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm")
-  if(ANDROID AND EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-androideabi")
-    set(__cuda_toolkit_target_dir_initial "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-androideabi")
-  elseif(EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf")
-    set(__cuda_toolkit_target_dir_initial "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf")
-  endif()
-endif()
-set(CUDA_TOOLKIT_TARGET_DIR "${__cuda_toolkit_target_dir_initial}" CACHE PATH "Toolkit target location.")
-mark_as_advanced(CUDA_TOOLKIT_TARGET_DIR)
-
 # Target CPU architecture
-if(CUDA_VERSION VERSION_GREATER "5.0" AND CMAKE_CROSSCOMPILING AND ${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm")
+if(DEFINED CUDA_TARGET_CPU_ARCH)
+  set(_cuda_target_cpu_arch_initial "${CUDA_TARGET_CPU_ARCH}")
+elseif(CUDA_VERSION VERSION_GREATER "5.0" AND CMAKE_CROSSCOMPILING AND CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|ARM)")
  set(_cuda_target_cpu_arch_initial "ARM")
 else()
  set(_cuda_target_cpu_arch_initial "")
 endif()
-set(CUDA_TARGET_CPU_ARCH ${_cuda_target_cpu_arch_initial} CACHE STRING "Specify the name of the class of CPU architecture for which the input files must be compiled.")
+set(CUDA_TARGET_CPU_ARCH "${_cuda_target_cpu_arch_initial}" CACHE STRING "Specify the name of the class of CPU architecture for which the input files must be compiled.")
 mark_as_advanced(CUDA_TARGET_CPU_ARCH)

+# Target OS variant
+if(DEFINED CUDA_TARGET_OS_VARIANT)
+  set(_cuda_target_os_variant_initial "${CUDA_TARGET_OS_VARIANT}")
+else()
+  set(_cuda_target_os_variant_initial "")
+endif()
+set(CUDA_TARGET_OS_VARIANT "${_cuda_target_os_variant_initial}" CACHE STRING "Specify the name of the class of OS for which the input files must be compiled.")
+mark_as_advanced(CUDA_TARGET_OS_VARIANT)
+
+# Target triplet
+if(DEFINED CUDA_TARGET_TRIPLET)
+  set(_cuda_target_triplet_initial "${CUDA_TARGET_TRIPLET}")
+elseif(CUDA_VERSION VERSION_GREATER "5.0" AND CMAKE_CROSSCOMPILING AND "${CUDA_TARGET_CPU_ARCH}" STREQUAL "ARM")
+  if("${CUDA_TARGET_OS_VARIANT}" STREQUAL "Android" AND EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-androideabi")
+    set(_cuda_target_triplet_initial "armv7-linux-androideabi")
+  elseif(EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf")
+    set(_cuda_target_triplet_initial "armv7-linux-gnueabihf")
+  endif()
+endif()
+set(CUDA_TARGET_TRIPLET "${_cuda_target_triplet_initial}" CACHE STRING "Specify the target triplet for which the input files must be compiled.")
+file(GLOB __cuda_available_target_tiplets RELATIVE "${CUDA_TOOLKIT_ROOT_DIR}/targets" "${CUDA_TOOLKIT_ROOT_DIR}/targets/*" )
+set_property(CACHE CUDA_TARGET_TRIPLET PROPERTY STRINGS ${__cuda_available_target_tiplets})
+mark_as_advanced(CUDA_TARGET_TRIPLET)
+
+# Target directory
+if(NOT DEFINED CUDA_TOOLKIT_TARGET_DIR AND CUDA_TARGET_TRIPLET AND EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/${CUDA_TARGET_TRIPLET}")
+  set(CUDA_TOOLKIT_TARGET_DIR "${CUDA_TOOLKIT_ROOT_DIR}/targets/${CUDA_TARGET_TRIPLET}")
+endif()
+
 # CUDA_TOOLKIT_INCLUDE
 find_path(CUDA_TOOLKIT_INCLUDE
  device_functions.h # Header included in toolkit
@@ -802,10 +677,16 @@ macro(cuda_find_library_local_first_with_path_ext _var _names _doc _path_ext )
    # and old paths.
    set(_cuda_64bit_lib_dir "${_path_ext}lib/x64" "${_path_ext}lib64" "${_path_ext}libx64" )
  endif()
+  if(CUDA_VERSION VERSION_GREATER "6.0")
+    set(_cuda_static_lib_names "")
+    foreach(name ${_names})
+      list(APPEND _cuda_static_lib_names "${name}_static")
+    endforeach()
+  endif()
  # CUDA 3.2+ on Windows moved the library directories, so we need to new
  # (lib/Win32) and the old path (lib).
  find_library(${_var}
-    NAMES ${_names}
+    NAMES ${_names} ${_cuda_static_lib_names}
    PATHS "${CUDA_TOOLKIT_TARGET_DIR}" "${CUDA_TOOLKIT_ROOT_DIR}"
    ENV CUDA_PATH
    ENV CUDA_LIB_PATH
@@ -815,7 +696,7 @@ macro(cuda_find_library_local_first_with_path_ext _var _names _doc _path_ext )
    )
  # Search default search paths, after we search our own set of paths.
  find_library(${_var}
-    NAMES ${_names}
+    NAMES ${_names} ${_cuda_static_lib_names}
    PATHS "/usr/lib/nvidia-current"
    DOC ${_doc}
    )
@@ -853,18 +734,6 @@ if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
 else()
  set(CUDA_LIBRARIES ${CUDA_CUDART_LIBRARY})
 endif()
-if(APPLE)
-  # We need to add the path to cudart to the linker using rpath, since the
-  # library name for the cuda libraries is prepended with @rpath.
-  if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
-    get_filename_component(_cuda_path_to_cudart "${CUDA_CUDARTEMU_LIBRARY}" PATH)
-  else()
-    get_filename_component(_cuda_path_to_cudart "${CUDA_CUDART_LIBRARY}" PATH)
-  endif()
-  if(_cuda_path_to_cudart)
-    list(APPEND CUDA_LIBRARIES -Wl,-rpath "-Wl,${_cuda_path_to_cudart}")
-  endif()
-endif()

 # 1.1 toolkit on linux doesn't appear to have a separate library on
 # some platforms.
@@ -997,6 +866,8 @@ set(CUDA_FOUND TRUE)

 set(CUDA_TOOLKIT_ROOT_DIR_INTERNAL "${CUDA_TOOLKIT_ROOT_DIR}" CACHE INTERNAL
  "This is the value of the last time CUDA_TOOLKIT_ROOT_DIR was set successfully." FORCE)
+set(CUDA_TARGET_TRIPLET_INTERNAL "${CUDA_TARGET_TRIPLET}" CACHE INTERNAL
+  "This is the value of the last time CUDA_TARGET_TRIPLET was set successfully." FORCE)
 set(CUDA_TOOLKIT_TARGET_DIR_INTERNAL "${CUDA_TOOLKIT_TARGET_DIR}" CACHE INTERNAL
  "This is the value of the last time CUDA_TOOLKIT_TARGET_DIR was set successfully." FORCE)
 set(CUDA_SDK_ROOT_DIR_INTERNAL "${CUDA_SDK_ROOT_DIR}" CACHE INTERNAL
@@ -1044,15 +915,15 @@ macro(CUDA_GET_SOURCES_AND_OPTIONS _sources _cmake_options _options)
  set( ${_options} )
  set( _found_options FALSE )
  foreach(arg ${ARGN})
-    if(arg STREQUAL "OPTIONS")
+    if("x${arg}" STREQUAL "xOPTIONS")
      set( _found_options TRUE )
    elseif(
-        arg STREQUAL "WIN32" OR
-        arg STREQUAL "MACOSX_BUNDLE" OR
-        arg STREQUAL "EXCLUDE_FROM_ALL" OR
-        arg STREQUAL "STATIC" OR
-        arg STREQUAL "SHARED" OR
-        arg STREQUAL "MODULE"
+        "x${arg}" STREQUAL "xWIN32" OR
+        "x${arg}" STREQUAL "xMACOSX_BUNDLE" OR
+        "x${arg}" STREQUAL "xEXCLUDE_FROM_ALL" OR
+        "x${arg}" STREQUAL "xSTATIC" OR
+        "x${arg}" STREQUAL "xSHARED" OR
+        "x${arg}" STREQUAL "xMODULE"
        )
      list(APPEND ${_cmake_options} ${arg})
    else()
@@ -1148,7 +1019,7 @@ function(CUDA_COMPUTE_BUILD_PATH path build_path)
    endif()
  endif()

-  # This recipie is from cmLocalGenerator::CreateSafeUniqueObjectFileName in the
+  # This recipe is from cmLocalGenerator::CreateSafeUniqueObjectFileName in the
  # CMake source.

  # Remove leading /
@@ -1177,7 +1048,7 @@ endfunction()
 # a .cpp or .ptx file.
 # INPUT:
 #   cuda_target         - Target name
-#   format              - PTX or OBJ
+#   format              - PTX, CUBIN, FATBIN or OBJ
 #   FILE1 .. FILEN      - The remaining arguments are the sources to be wrapped.
 #   OPTIONS             - Extra options to NVCC
 # OUTPUT:
@@ -1227,6 +1098,10 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
    set(nvcc_flags ${nvcc_flags} "--target-cpu-architecture=${CUDA_TARGET_CPU_ARCH}")
  endif()

+  if(CUDA_TARGET_OS_VARIANT AND CUDA_VERSION VERSION_LESS "7.0")
+    set(nvcc_flags ${nvcc_flags} "-target-os-variant=${CUDA_TARGET_OS_VARIANT}")
+  endif()
+
  # This needs to be passed in at this stage, because VS needs to fill out the
  # value of VCInstallDir from within VS.  Note that CCBIN is only used if
  # -ccbin or --compiler-bindir isn't used and CUDA_HOST_COMPILER matches
@@ -1355,7 +1230,7 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
  foreach(file ${ARGN})
    # Ignore any file marked as a HEADER_FILE_ONLY
    get_source_file_property(_is_header ${file} HEADER_FILE_ONLY)
-    if(${file} MATCHES ".*\\.cu$" AND NOT _is_header)
+    if(${file} MATCHES "\\.cu$" AND NOT _is_header)

      # Allow per source file overrides of the format.
      get_source_file_property(_cuda_source_format ${file} CUDA_SOURCE_PROPERTY_FORMAT)
@@ -1363,16 +1238,22 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
        set(_cuda_source_format ${format})
      endif()

-      if( ${_cuda_source_format} MATCHES "PTX" )
-        set( compile_to_ptx ON )
-      elseif( ${_cuda_source_format} MATCHES "OBJ")
-        set( compile_to_ptx OFF )
+      if( ${_cuda_source_format} MATCHES "OBJ")
+        set( cuda_compile_to_external_module OFF )
      else()
-        message( FATAL_ERROR "Invalid format flag passed to CUDA_WRAP_SRCS for file '${file}': '${_cuda_source_format}'.  Use OBJ or PTX.")
+        set( cuda_compile_to_external_module ON )
+        if( ${_cuda_source_format} MATCHES "PTX" )
+          set( cuda_compile_to_external_module_type "ptx" )
+        elseif( ${_cuda_source_format} MATCHES "CUBIN")
+          set( cuda_compile_to_external_module_type "cubin" )
+        elseif( ${_cuda_source_format} MATCHES "FATBIN")
+          set( cuda_compile_to_external_module_type "fatbin" )
+        else()
+          message( FATAL_ERROR "Invalid format flag passed to CUDA_WRAP_SRCS for file '${file}': '${_cuda_source_format}'.  Use OBJ, PTX, CUBIN or FATBIN.")
+        endif()
      endif()

-
-      if(compile_to_ptx)
+      if(cuda_compile_to_external_module)
        # Don't use any of the host compilation flags for PTX targets.
        set(CUDA_HOST_FLAGS)
        set(CUDA_NVCC_FLAGS_CONFIG)
@@ -1387,7 +1268,7 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
      if(CUDA_GENERATED_OUTPUT_DIR)
        set(cuda_compile_output_dir "${CUDA_GENERATED_OUTPUT_DIR}")
      else()
-        if ( compile_to_ptx )
+        if ( cuda_compile_to_external_module )
          set(cuda_compile_output_dir "${CMAKE_CURRENT_BINARY_DIR}")
        else()
          set(cuda_compile_output_dir "${cuda_compile_intermediate_directory}")
@@ -1397,10 +1278,10 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
      # Add a custom target to generate a c or ptx file. ######################

      get_filename_component( basename ${file} NAME )
-      if( compile_to_ptx )
+      if( cuda_compile_to_external_module )
        set(generated_file_path "${cuda_compile_output_dir}")
-        set(generated_file_basename "${cuda_target}_generated_${basename}.ptx")
-        set(format_flag "-ptx")
+        set(generated_file_basename "${cuda_target}_generated_${basename}.${cuda_compile_to_external_module_type}")
+        set(format_flag "-${cuda_compile_to_external_module_type}")
        file(MAKE_DIRECTORY "${cuda_compile_output_dir}")
      else()
        set(generated_file_path "${cuda_compile_output_dir}/${CMAKE_CFG_INTDIR}")
@@ -1423,7 +1304,7 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
      set(custom_target_script "${cuda_compile_intermediate_directory}/${generated_file_basename}.cmake")

      # Setup properties for obj files:
-      if( NOT compile_to_ptx )
+      if( NOT cuda_compile_to_external_module )
        set_source_files_properties("${generated_file}"
          PROPERTIES
          EXTERNAL_OBJECT true # This is an object file not to be compiled, but only be linked.
@@ -1438,7 +1319,7 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
        set(source_file "${CMAKE_CURRENT_SOURCE_DIR}/${file}")
      endif()

-      if( NOT compile_to_ptx AND CUDA_SEPARABLE_COMPILATION)
+      if( NOT cuda_compile_to_external_module AND CUDA_SEPARABLE_COMPILATION)
        list(APPEND ${cuda_target}_SEPARABLE_COMPILATION_OBJECTS "${generated_file}")
      endif()

@@ -1455,7 +1336,7 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)
      # Build the NVCC made dependency file ###################################
      set(build_cubin OFF)
      if ( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN )
-         if ( NOT compile_to_ptx )
+         if ( NOT cuda_compile_to_external_module )
           set ( build_cubin ON )
         endif()
      endif()
@@ -1482,8 +1363,8 @@ macro(CUDA_WRAP_SRCS cuda_target format generated_files)

      # Create up the comment string
      file(RELATIVE_PATH generated_file_relative_path "${CMAKE_BINARY_DIR}" "${generated_file}")
-      if(compile_to_ptx)
-        set(cuda_build_comment_string "Building NVCC ptx file ${generated_file_relative_path}")
+      if(cuda_compile_to_external_module)
+        set(cuda_build_comment_string "Building NVCC ${cuda_compile_to_external_module_type} file ${generated_file_relative_path}")
      else()
        set(cuda_build_comment_string "Building NVCC (${cuda_build_type}) object ${generated_file_relative_path}")
      endif()
@@ -1576,18 +1457,27 @@ function(CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS output_file cuda_target options
    # If -ccbin, --compiler-bindir has been specified, don't do anything.  Otherwise add it here.
    list( FIND nvcc_flags "-ccbin" ccbin_found0 )
    list( FIND nvcc_flags "--compiler-bindir" ccbin_found1 )
-    if( ccbin_found0 LESS 0 AND ccbin_found1 LESS 0 )
+    if( ccbin_found0 LESS 0 AND ccbin_found1 LESS 0 AND CUDA_HOST_COMPILER )
      list(APPEND nvcc_flags -ccbin "\"${CUDA_HOST_COMPILER}\"")
    endif()
+    # Create a list of flags specified by CUDA_NVCC_FLAGS_${CONFIG}
+    set(config_specific_flags)
    set(flags)
    foreach(config ${CUDA_configuration_types})
      string(TOUPPER ${config} config_upper)
+      # Add config specific flags
+      foreach(f ${CUDA_NVCC_FLAGS_${config_upper}})
+        list(APPEND config_specific_flags $<$<CONFIG:${config}>:${f}>)
+      endforeach()
      set(important_host_flags)
      _cuda_get_important_host_flags(important_host_flags ${CMAKE_${CUDA_C_OR_CXX}_FLAGS_${config_upper}})
      foreach(f ${important_host_flags})
        list(APPEND flags $<$<CONFIG:${config}>:-Xcompiler> $<$<CONFIG:${config}>:${f}>)
      endforeach()
    endforeach()
+    # Add our general CUDA_NVCC_FLAGS with the configuration specifig flags
+    set(nvcc_flags ${CUDA_NVCC_FLAGS} ${config_specific_flags} ${nvcc_flags})
+
    file(RELATIVE_PATH output_file_relative_path "${CMAKE_BINARY_DIR}" "${output_file}")

    # Some generators don't handle the multiple levels of custom command
@@ -1713,21 +1603,29 @@ endmacro()

 ###############################################################################
 ###############################################################################
-# CUDA COMPILE
+# (Internal) helper for manually added cuda source files with specific targets
 ###############################################################################
 ###############################################################################
-macro(CUDA_COMPILE generated_files)
+macro(cuda_compile_base cuda_target format generated_files)

  # Separate the sources from the options
  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
  # Create custom commands and targets for each file.
-  CUDA_WRAP_SRCS( cuda_compile OBJ _generated_files ${_sources} ${_cmake_options}
+  CUDA_WRAP_SRCS( ${cuda_target} ${format} _generated_files ${_sources} ${_cmake_options}
    OPTIONS ${_options} )

  set( ${generated_files} ${_generated_files})

 endmacro()

+###############################################################################
+###############################################################################
+# CUDA COMPILE
+###############################################################################
+###############################################################################
+macro(CUDA_COMPILE generated_files)
+  cuda_compile_base(cuda_compile OBJ ${generated_files} ${ARGN})
+endmacro()

 ###############################################################################
 ###############################################################################
@@ -1735,17 +1633,28 @@ endmacro()
 ###############################################################################
 ###############################################################################
 macro(CUDA_COMPILE_PTX generated_files)
-
-  # Separate the sources from the options
-  CUDA_GET_SOURCES_AND_OPTIONS(_sources _cmake_options _options ${ARGN})
-  # Create custom commands and targets for each file.
-  CUDA_WRAP_SRCS( cuda_compile_ptx PTX _generated_files ${_sources} ${_cmake_options}
-    OPTIONS ${_options} )
-
-  set( ${generated_files} ${_generated_files})
-
+  cuda_compile_base(cuda_compile_ptx PTX ${generated_files} ${ARGN})
 endmacro()

+###############################################################################
+###############################################################################
+# CUDA COMPILE FATBIN
+###############################################################################
+###############################################################################
+macro(CUDA_COMPILE_FATBIN generated_files)
+  cuda_compile_base(cuda_compile_fatbin FATBIN ${generated_files} ${ARGN})
+endmacro()
+
+###############################################################################
+###############################################################################
+# CUDA COMPILE CUBIN
+###############################################################################
+###############################################################################
+macro(CUDA_COMPILE_CUBIN generated_files)
+  cuda_compile_base(cuda_compile_cubin CUBIN ${generated_files} ${ARGN})
+endmacro()
+
+
 ###############################################################################
 ###############################################################################
 # CUDA ADD CUFFT TO TARGET
@@ -37,12 +37,11 @@

 file(READ ${input_file} depend_text)

-if (${depend_text} MATCHES ".+")
+if (NOT "${depend_text}" STREQUAL "")

  # message("FOUND DEPENDS")

-  # Remember, four backslashes is escaped to one backslash in the string.
-  string(REGEX REPLACE "\\\\ " " " depend_text ${depend_text})
+  string(REPLACE "\\ " " " depend_text ${depend_text})

  # This works for the nvcc -M generated dependency files.
  string(REGEX REPLACE "^.* : " "" depend_text ${depend_text})
@@ -37,11 +37,10 @@

 file(READ ${input_file} file_text)

-if (${file_text} MATCHES ".+")
+if (NOT "${file_text}" STREQUAL "")

-  # Remember, four backslashes is escaped to one backslash in the string.
-  string(REGEX REPLACE ";" "\\\\;" file_text ${file_text})
-  string(REGEX REPLACE "\ncode" ";code" file_text ${file_text})
+  string(REPLACE ";" "\\;" file_text ${file_text})
+  string(REPLACE "\ncode" ";code" file_text ${file_text})

  list(LENGTH file_text len)

@@ -57,7 +56,7 @@ if (${file_text} MATCHES ".+")

        # Extract kernel names.
        if (${entry} MATCHES "[^g]name = ([^ ]+)")
-          string(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry})
+          set(entry "${CMAKE_MATCH_1}")

          # Check to see if the kernel name starts with "_"
          set(skip FALSE)
@@ -76,19 +75,19 @@ if (${file_text} MATCHES ".+")

          # Registers
          if (${entry} MATCHES "reg([ ]+)=([ ]+)([^ ]+)")
-            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            set(entry "${CMAKE_MATCH_3}")
            message("Registers: ${entry}")
          endif()

          # Local memory
          if (${entry} MATCHES "lmem([ ]+)=([ ]+)([^ ]+)")
-            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            set(entry "${CMAKE_MATCH_3}")
            message("Local:     ${entry}")
          endif()

          # Shared memory
          if (${entry} MATCHES "smem([ ]+)=([ ]+)([^ ]+)")
-            string(REGEX REPLACE ".*([ ]+)=([ ]+)([^ ]+)" "\\3" entry ${entry})
+            set(entry "${CMAKE_MATCH_3}")
            message("Shared:    ${entry}")
          endif()

@@ -62,7 +62,7 @@ set(cmake_dependency_file "@cmake_dependency_file@") # path
 set(CUDA_make2cmake "@CUDA_make2cmake@") # path
 set(CUDA_parse_cubin "@CUDA_parse_cubin@") # path
 set(build_cubin @build_cubin@) # bool
-set(CUDA_HOST_COMPILER "@CUDA_HOST_COMPILER@") # bool
+set(CUDA_HOST_COMPILER "@CUDA_HOST_COMPILER@") # path
 # We won't actually use these variables for now, but we need to set this, in
 # order to force this file to be run again if it changes.
 set(generated_file_path "@generated_file_path@") # path
@@ -106,7 +106,7 @@ list(APPEND CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS_${build_configuration}})
 # Any -ccbin existing in CUDA_NVCC_FLAGS gets highest priority
 list( FIND CUDA_NVCC_FLAGS "-ccbin" ccbin_found0 )
 list( FIND CUDA_NVCC_FLAGS "--compiler-bindir" ccbin_found1 )
-if( ccbin_found0 LESS 0 AND ccbin_found1 LESS 0 )
+if( ccbin_found0 LESS 0 AND ccbin_found1 LESS 0 AND CUDA_HOST_COMPILER )
  if (CUDA_HOST_COMPILER STREQUAL "$(VCInstallDir)bin" AND DEFINED CCBIN)
    set(CCBIN -ccbin "${CCBIN}")
  else()
@@ -126,7 +126,7 @@ endif()
 # and other return variables are present after executing the process.
 macro(cuda_execute_process status command)
  set(_command ${command})
-  if(NOT _command STREQUAL "COMMAND")
+  if(NOT "x${_command}" STREQUAL "xCOMMAND")
    message(FATAL_ERROR "Malformed call to cuda_execute_process.  Missing COMMAND as second argument. (command = ${command})")
  endif()
  if(verbose)
@@ -6,34 +6,62 @@ endif()

 set(HAVE_WINRT FALSE)

-# search Windows Platform SDK
-message(STATUS "Checking for Windows Platform SDK")
-GET_FILENAME_COMPONENT(WINDOWS_SDK_PATH  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Microsoft SDKs\\Windows\\v8.0;InstallationFolder]" ABSOLUTE CACHE)
-if(WINDOWS_SDK_PATH STREQUAL "")
-  set(HAVE_MSPDK FALSE)
-  message(STATUS "Windows Platform SDK 8.0 was not found")
+# search Windows (Phone) Platform SDK
+message(STATUS "Checking for Windows (Phone) Platform SDK 8.0/8.1")
+unset(WINDOWS_SDK_PATH CACHE)
+GET_FILENAME_COMPONENT(WINDOWS_SDK_PATH  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Microsoft SDKs\\WindowsPhoneApp\\v8.1;InstallationFolder]" ABSOLUTE CACHE)
+if((NOT ENABLE_WINPHONESDK81) OR (NOT (MSVC_VERSION EQUAL 1800)) OR (WINDOWS_SDK_PATH STREQUAL ""))
+  unset(WINDOWS_SDK_PATH CACHE)
+  GET_FILENAME_COMPONENT(WINDOWS_SDK_PATH  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Microsoft SDKs\\WindowsPhone\\v8.0;InstallationFolder]" ABSOLUTE CACHE)
+  if((NOT ENABLE_WINPHONESDK80) OR (MSVC_VERSION LESS 1700) OR (WINDOWS_SDK_PATH STREQUAL ""))
+    unset(WINDOWS_SDK_PATH CACHE)
+    GET_FILENAME_COMPONENT(WINDOWS_SDK_PATH  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Microsoft SDKs\\Windows\\v8.1;InstallationFolder]" ABSOLUTE CACHE)
+    if((NOT ENABLE_WINSDK81) OR (NOT (MSVC_VERSION EQUAL 1800)) OR (WINDOWS_SDK_PATH STREQUAL ""))
+      set(HAVE_MSPDK FALSE)
+      unset(WINDOWS_SDK_PATH CACHE)
+      GET_FILENAME_COMPONENT(WINDOWS_SDK_PATH  "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Microsoft SDKs\\Windows\\v8.0;InstallationFolder]" ABSOLUTE CACHE)
+      if(WINDOWS_SDK_PATH STREQUAL "")
+        set(HAVE_MSPDK FALSE)
+        message(STATUS "Windows (Phone) Platform SDK 8.0/8.1 was not found")
+      else()
+        set(HAVE_MSPDK TRUE)
+      endif()
+    else()
+      set(HAVE_MSPDK TRUE)
+    endif()
+  else()
+    set(HAVE_MSPDK TRUE)
+  endif()
 else()
  set(HAVE_MSPDK TRUE)
 endif()

-#search for Visual Studio 11.0 install directory
-message(STATUS "Checking for Visual Studio 2012")
-GET_FILENAME_COMPONENT(VISUAL_STUDIO_PATH [HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\VisualStudio\\11.0\\Setup\\VS;ProductDir] REALPATH CACHE)
-if(VISUAL_STUDIO_PATH STREQUAL "")
-  set(HAVE_MSVC2012 FALSE)
-  message(STATUS "Visual Studio 2012 was not found")
+#search for Visual Studio 11.0/12.0 install directory
+message(STATUS "Checking for Visual Studio 2012/2013")
+unset(VISUAL_STUDIO_PATH CACHE)
+GET_FILENAME_COMPONENT(VISUAL_STUDIO_PATH [HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\VisualStudio\\12.0\\Setup\\VS;ProductDir] REALPATH CACHE)
+if((NOT ENABLE_LIBVS2013) OR (NOT (MSVC_VERSION EQUAL 1800)) OR (VISUAL_STUDIO_PATH STREQUAL ""))
+  set(HAVE_MSVC2013 FALSE)
+  unset(VISUAL_STUDIO_PATH CACHE)
+  GET_FILENAME_COMPONENT(VISUAL_STUDIO_PATH [HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\VisualStudio\\11.0\\Setup\\VS;ProductDir] REALPATH CACHE)
+  if(VISUAL_STUDIO_PATH STREQUAL "")
+    set(HAVE_MSVC2012 FALSE)
+    message(STATUS "Visual Studio 2012/2013 not found")
+  else()
+    set(HAVE_MSVC2012 TRUE)
+  endif()
 else()
-  set(HAVE_MSVC2012 TRUE)
+  set(HAVE_MSVC2013 TRUE)
 endif()

 try_compile(HAVE_WINRT_SDK
  "${OpenCV_BINARY_DIR}"
  "${OpenCV_SOURCE_DIR}/cmake/checks/winrttest.cpp")

-if(ENABLE_WINRT_MODE AND HAVE_WINRT_SDK AND HAVE_MSVC2012 AND HAVE_MSPDK)
+if(ENABLE_WINRT_MODE AND HAVE_WINRT_SDK AND (HAVE_MSVC2012 OR HAVE_MSVC2013) AND HAVE_MSPDK)
  set(HAVE_WINRT TRUE)
  set(HAVE_WINRT_CX TRUE)
-elseif(ENABLE_WINRT_MODE_NATIVE AND HAVE_WINRT_SDK AND HAVE_MSVC2012 AND HAVE_MSPDK)
+elseif(ENABLE_WINRT_MODE_NATIVE AND HAVE_WINRT_SDK AND (HAVE_MSVC2012 OR HAVE_MSVC2013) AND HAVE_MSPDK)
  set(HAVE_WINRT TRUE)
  set(HAVE_WINRT_CX FALSE)
 endif()
@@ -112,6 +112,10 @@ if(CMAKE_COMPILER_IS_GNUCXX)
    add_extra_compiler_option(-march=i686)
  endif()

+  if(APPLE)
+    add_extra_compiler_option(-Wno-semicolon-before-method-body)
+  endif()
+
  # Other optimizations
  if(ENABLE_OMIT_FRAME_POINTER)
    add_extra_compiler_option(-fomit-frame-pointer)
@@ -140,7 +144,11 @@ if(CMAKE_COMPILER_IS_GNUCXX)
  # SSE3 and further should be disabled under MingW because it generates compiler errors
  if(NOT MINGW)
    if(ENABLE_AVX)
-      add_extra_compiler_option(-mavx)
+      add_extra_compiler_option("-mavx")
+    endif()
+
+    if(ENABLE_AVX2)
+      add_extra_compiler_option("-mavx2")
    endif()

    # GCC depresses SSEx instructions when -mavx is used. Instead, it generates new AVX instructions or AVX equivalence for all SSEx instructions when needed.
@@ -216,10 +224,6 @@ if(MSVC)
    set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} /Zi")
  endif()

-  if(ENABLE_AVX AND NOT MSVC_VERSION LESS 1600)
-    set(OPENCV_EXTRA_FLAGS "${OPENCV_EXTRA_FLAGS} /arch:AVX")
-  endif()
-
  if(ENABLE_SSE4_1 AND CV_ICC AND NOT OPENCV_EXTRA_FLAGS MATCHES "/arch:")
    set(OPENCV_EXTRA_FLAGS "${OPENCV_EXTRA_FLAGS} /arch:SSE4.1")
  endif()
@@ -238,7 +242,7 @@ if(MSVC)
    endif()
  endif()

-  if(ENABLE_SSE OR ENABLE_SSE2 OR ENABLE_SSE3 OR ENABLE_SSE4_1 OR ENABLE_AVX)
+  if(ENABLE_SSE OR ENABLE_SSE2 OR ENABLE_SSE3 OR ENABLE_SSE4_1 OR ENABLE_AVX OR ENABLE_AVX2)
    set(OPENCV_EXTRA_FLAGS "${OPENCV_EXTRA_FLAGS} /Oi")
  endif()

@@ -254,7 +258,7 @@ if(MSVC)
 endif()

 # Extra link libs if the user selects building static libs:
-if(NOT BUILD_SHARED_LIBS AND CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID)
+if(NOT BUILD_SHARED_LIBS AND ((CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID) OR QNX))
  # Android does not need these settings because they are already set by toolchain file
  set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} stdc++)
  set(OPENCV_EXTRA_FLAGS "-fPIC ${OPENCV_EXTRA_FLAGS}")
@@ -15,19 +15,10 @@ endif()

 set(CMAKE_MODULE_PATH "${OpenCV_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})

-foreach(var INCLUDE LIBRARY PROGRAM)
-  set(__old_frpm_${var} "${CMAKE_FIND_ROOT_PATH_MODE_${var}}")
-endforeach()
-
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY BOTH)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
-
-find_package(CUDA 4.2 QUIET)
-
-foreach(var INCLUDE LIBRARY PROGRAM)
-  set(CMAKE_FIND_ROOT_PATH_MODE_${var} "${__old_frpm_${var}}")
-endforeach()
+if(ANDROID AND "${CUDA_VERSION}" VERSION_LESS "7.0")
+  set(CUDA_TARGET_OS_VARIANT "Android")
+endif()
+find_host_package(CUDA 4.2 QUIET)

 list(REMOVE_AT CMAKE_MODULE_PATH 0)

@@ -91,8 +82,13 @@ if(CUDA_FOUND)

  if(NOT DEFINED __cuda_arch_bin)
    if(ANDROID)
-      set(__cuda_arch_bin "3.2")
-      set(__cuda_arch_ptx "")
+      if (ARM)
+        set(__cuda_arch_bin "3.2")
+        set(__cuda_arch_ptx "")
+      elseif(AARCH64)
+        set(__cuda_arch_bin "5.2")
+        set(__cuda_arch_ptx "")
+      endif()
    else()
      if(${CUDA_VERSION} VERSION_LESS "5.0")
        set(__cuda_arch_bin "1.1 1.2 1.3 2.0 2.1(2.0) 3.0")
@@ -154,7 +150,6 @@ if(CUDA_FOUND)

  if(ANDROID)
    set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-Xptxas;-dlcm=ca")
-    set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-target-os-variant=Android")
  endif()

  message(STATUS "CUDA NVCC target flags: ${CUDA_NVCC_FLAGS}")
@@ -257,4 +252,4 @@ if(HAVE_CUDA)
    set(CUDA_cufft_LIBRARY_ABS ${CUDA_cufft_LIBRARY})
    ocv_convert_to_lib_name(CUDA_cufft_LIBRARY ${CUDA_cufft_LIBRARY})
  endif()
-endif()
+endif()
@@ -109,6 +109,8 @@ elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
  set(X86 1)
 elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "arm.*|ARM.*")
  set(ARM 1)
+elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64.*|AARCH64.*")
+  set(AARCH64 1)
 endif()


@@ -38,7 +38,9 @@ if(PYTHON_EXECUTABLE)

  if(NOT ANDROID AND NOT IOS)
    ocv_check_environment_variables(PYTHON_LIBRARY PYTHON_INCLUDE_DIR)
-    if(CMAKE_VERSION VERSION_GREATER 2.8.8 AND PYTHON_VERSION_FULL)
+    if(CMAKE_CROSSCOMPILING)
+      find_host_package(PythonLibs ${PYTHON_VERSION_MAJOR_MINOR})
+    elseif(CMAKE_VERSION VERSION_GREATER 2.8.8 AND PYTHON_VERSION_FULL)
      find_host_package(PythonLibs ${PYTHON_VERSION_FULL} EXACT)
    else()
      find_host_package(PythonLibs ${PYTHON_VERSION_FULL})
@@ -46,25 +46,15 @@ else()
  set(HAVE_CSTRIPES 0)
 endif()

-# --- OpenMP ---
-if(WITH_OPENMP AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES)
-  find_package(OpenMP)
-  if(OPENMP_FOUND)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-  endif()
-  set(HAVE_OPENMP "${OPENMP_FOUND}")
-endif()
-
 # --- GCD ---
-if(APPLE AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES AND NOT HAVE_OPENMP)
+if(APPLE AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES)
  set(HAVE_GCD 1)
 else()
  set(HAVE_GCD 0)
 endif()

 # --- Concurrency ---
-if(MSVC AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES AND NOT HAVE_OPENMP)
+if(MSVC AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES)
  set(_fname "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/concurrencytest.cpp")
  file(WRITE "${_fname}" "#if _MSC_VER < 1600\n#error\n#endif\nint main() { return 0; }\n")
  try_compile(HAVE_CONCURRENCY "${CMAKE_BINARY_DIR}" "${_fname}")
@@ -72,3 +62,13 @@ if(MSVC AND NOT HAVE_TBB AND NOT HAVE_CSTRIPES AND NOT HAVE_OPENMP)
 else()
  set(HAVE_CONCURRENCY 0)
 endif()
+
+# --- OpenMP ---
+if(WITH_OPENMP)
+  find_package(OpenMP)
+  if(OPENMP_FOUND)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  endif()
+  set(HAVE_OPENMP "${OPENMP_FOUND}")
+endif()
@@ -12,16 +12,51 @@ endif(WITH_VFW)

 # --- GStreamer ---
 ocv_clear_vars(HAVE_GSTREAMER)
+# try to find gstreamer 1.x first
 if(WITH_GSTREAMER)
-  CHECK_MODULE(gstreamer-base-0.10 HAVE_GSTREAMER)
-  if(HAVE_GSTREAMER)
-    CHECK_MODULE(gstreamer-app-0.10 HAVE_GSTREAMER)
-  endif()
-  if(HAVE_GSTREAMER)
-    CHECK_MODULE(gstreamer-video-0.10 HAVE_GSTREAMER)
+  CHECK_MODULE(gstreamer-base-1.0 HAVE_GSTREAMER_BASE)
+  CHECK_MODULE(gstreamer-video-1.0 HAVE_GSTREAMER_VIDEO)
+  CHECK_MODULE(gstreamer-app-1.0 HAVE_GSTREAMER_APP)
+  CHECK_MODULE(gstreamer-riff-1.0 HAVE_GSTREAMER_RIFF)
+  CHECK_MODULE(gstreamer-pbutils-1.0 HAVE_GSTREAMER_PBUTILS)
+
+  if(HAVE_GSTREAMER_BASE AND HAVE_GSTREAMER_VIDEO AND HAVE_GSTREAMER_APP AND HAVE_GSTREAMER_RIFF AND HAVE_GSTREAMER_PBUTILS)
+      set(HAVE_GSTREAMER TRUE)
+      set(GSTREAMER_BASE_VERSION ${ALIASOF_gstreamer-base-1.0_VERSION})
+      set(GSTREAMER_VIDEO_VERSION ${ALIASOF_gstreamer-video-1.0_VERSION})
+      set(GSTREAMER_APP_VERSION ${ALIASOF_gstreamer-app-1.0_VERSION})
+      set(GSTREAMER_RIFF_VERSION ${ALIASOF_gstreamer-riff-1.0_VERSION})
+      set(GSTREAMER_PBUTILS_VERSION ${ALIASOF_gstreamer-pbutils-1.0_VERSION})
  endif()
+
 endif(WITH_GSTREAMER)

+# gstreamer support was requested but could not find gstreamer 1.x,
+# so fallback/try to find gstreamer 0.10
+if(WITH_GSTREAMER AND NOT HAVE_GSTREAMER)
+  set(WITH_GSTREAMER_0_10 ON)
+endif()
+
+# if gstreamer 1.x was not found (fallback on gstreamer 0.10), or we specified
+# we wanted gstreamer 0.10 support,
+# then try to find it if not gstreamer support has not been found so far.
+if(WITH_GSTREAMER_0_10 AND NOT HAVE_GSTREAMER)
+  CHECK_MODULE(gstreamer-base-0.10 HAVE_GSTREAMER_BASE)
+  CHECK_MODULE(gstreamer-video-0.10 HAVE_GSTREAMER_VIDEO)
+  CHECK_MODULE(gstreamer-app-0.10 HAVE_GSTREAMER_APP)
+  CHECK_MODULE(gstreamer-riff-0.10 HAVE_GSTREAMER_RIFF)
+  CHECK_MODULE(gstreamer-pbutils-0.10 HAVE_GSTREAMER_PBUTILS)
+
+  if(HAVE_GSTREAMER_BASE AND HAVE_GSTREAMER_VIDEO AND HAVE_GSTREAMER_APP AND HAVE_GSTREAMER_RIFF AND HAVE_GSTREAMER_PBUTILS)
+      set(HAVE_GSTREAMER TRUE)
+      set(GSTREAMER_BASE_VERSION ${ALIASOF_gstreamer-base-0.10_VERSION})
+      set(GSTREAMER_VIDEO_VERSION ${ALIASOF_gstreamer-video-0.10_VERSION})
+      set(GSTREAMER_APP_VERSION ${ALIASOF_gstreamer-app-0.10_VERSION})
+      set(GSTREAMER_RIFF_VERSION ${ALIASOF_gstreamer-riff-0.10_VERSION})
+      set(GSTREAMER_PBUTILS_VERSION ${ALIASOF_gstreamer-pbutils-0.10_VERSION})
+  endif()
+endif(WITH_GSTREAMER_0_10 AND NOT HAVE_GSTREAMER)
+
 # --- unicap ---
 ocv_clear_vars(HAVE_UNICAP)
 if(WITH_UNICAP)
@@ -126,7 +161,13 @@ endif(WITH_XINE)
 ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2 HAVE_VIDEOIO)
 if(WITH_V4L)
  if(WITH_LIBV4L)
-    CHECK_MODULE(libv4l1 HAVE_LIBV4L)
+    CHECK_MODULE(libv4l1 HAVE_LIBV4L1)
+    CHECK_MODULE(libv4l2 HAVE_LIBV4L2)
+    if(HAVE_LIBV4L1 AND HAVE_LIBV4L2)
+      set(HAVE_LIBV4L YES)
+    else()
+      set(HAVE_LIBV4L NO)
+    endif()
  endif()
  CHECK_INCLUDE_FILE(linux/videodev.h HAVE_CAMV4L)
  CHECK_INCLUDE_FILE(linux/videodev2.h HAVE_CAMV4L2)
@@ -177,42 +218,35 @@ if(WITH_FFMPEG)
        # Do an other trial
        FIND_FILE(BZIP2_LIBRARIES NAMES libbz2.so.1 PATHS /lib)
      endif()
-    endif(HAVE_FFMPEG)
-  endif()
-
-  if(APPLE)
-    find_path(FFMPEG_INCLUDE_DIR "libavformat/avformat.h"
-              PATHS /usr/local /usr /opt
-              PATH_SUFFIXES include
-              DOC "The path to FFMPEG headers")
-    if(FFMPEG_INCLUDE_DIR)
-      set(HAVE_GENTOO_FFMPEG TRUE)
-      set(FFMPEG_LIB_DIR "${FFMPEG_INCLUDE_DIR}/../lib" CACHE PATH "Full path of FFMPEG library directory")
-      if(EXISTS "${FFMPEG_LIB_DIR}/libavcodec.a")
-        set(HAVE_FFMPEG_CODEC 1)
-        set(ALIASOF_libavcodec_VERSION "Unknown")
-        if(EXISTS "${FFMPEG_LIB_DIR}/libavformat.a")
-          set(HAVE_FFMPEG_FORMAT 1)
+    else()
+      find_path(FFMPEG_INCLUDE_DIR "libavformat/avformat.h"
+                PATHS /usr/local /usr /opt
+                PATH_SUFFIXES include
+                DOC "The path to FFMPEG headers")
+      if(FFMPEG_INCLUDE_DIR)
+        set(HAVE_GENTOO_FFMPEG TRUE)
+        set(FFMPEG_LIB_DIR "${FFMPEG_INCLUDE_DIR}/../lib" CACHE PATH "Full path of FFMPEG library directory")
+        find_library(FFMPEG_CODEC_LIB "avcodec" HINTS "${FFMPEG_LIB_DIR}")
+        find_library(FFMPEG_FORMAT_LIB "avformat" HINTS "${FFMPEG_LIB_DIR}")
+        find_library(FFMPEG_UTIL_LIB "avutil" HINTS "${FFMPEG_LIB_DIR}")
+        find_library(FFMPEG_SWSCALE_LIB "swscale" HINTS "${FFMPEG_LIB_DIR}")
+        if(FFMPEG_CODEC_LIB AND FFMPEG_FORMAT_LIB AND
+           FFMPEG_UTIL_LIB AND FFMPEG_SWSCALE_LIB)
+          set(ALIASOF_libavcodec_VERSION "Unknown")
          set(ALIASOF_libavformat_VERSION "Unknown")
-          if(EXISTS "${FFMPEG_LIB_DIR}/libavutil.a")
-            set(HAVE_FFMPEG_UTIL 1)
-            set(ALIASOF_libavutil_VERSION "Unknown")
-            if(EXISTS "${FFMPEG_LIB_DIR}/libswscale.a")
-              set(HAVE_FFMPEG_SWSCALE 1)
-              set(ALIASOF_libswscale_VERSION "Unknown")
-              set(HAVE_FFMPEG 1)
-            endif()
-          endif()
+          set(ALIASOF_libavutil_VERSION "Unknown")
+          set(ALIASOF_libswscale_VERSION "Unknown")
+          set(HAVE_FFMPEG 1)
        endif()
-      endif()
-    endif(FFMPEG_INCLUDE_DIR)
-    if(HAVE_FFMPEG)
-      set(HIGHGUI_LIBRARIES ${HIGHGUI_LIBRARIES} "${FFMPEG_LIB_DIR}/libavcodec.a"
-          "${FFMPEG_LIB_DIR}/libavformat.a" "${FFMPEG_LIB_DIR}/libavutil.a"
-          "${FFMPEG_LIB_DIR}/libswscale.a")
-      ocv_include_directories(${FFMPEG_INCLUDE_DIR})
+      endif(FFMPEG_INCLUDE_DIR)
+      if(HAVE_FFMPEG)
+        set(HIGHGUI_LIBRARIES ${HIGHGUI_LIBRARIES}
+            ${FFMPEG_CODEC_LIB} ${FFMPEG_FORMAT_LIB}
+            ${FFMPEG_UTIL_LIB} ${FFMPEG_SWSCALE_LIB})
+        ocv_include_directories(${FFMPEG_INCLUDE_DIR})
+      endif(HAVE_FFMPEG)
    endif()
-  endif(APPLE)
+  endif()
 endif(WITH_FFMPEG)

 # --- VideoInput/DirectShow ---
@@ -222,6 +256,7 @@ if(WITH_DSHOW)
 endif(WITH_DSHOW)

 # --- VideoInput/Microsoft Media Foundation ---
+ocv_clear_vars(HAVE_MSMF)
 if(WITH_MSMF)
  check_include_file(Mfapi.h HAVE_MSMF)
 endif(WITH_MSMF)
@@ -31,6 +31,12 @@ if(WIN32)
  else()
    set(XIMEA_FOUND 0)
  endif()
+elseif(APPLE)
+  if(EXISTS /Library/Frameworks/m3api.framework)
+    set(XIMEA_FOUND 1)
+  else()
+    set(XIMEA_FOUND 0)
+  endif()
 else()
  if(EXISTS /opt/XIMEA)
    set(XIMEA_FOUND 1)
@@ -19,6 +19,22 @@ if(ANDROID)
    set(OPENCV_STATIC_LIBTYPE_CONFIGMAKE ${OPENCV_LIBTYPE_CONFIGMAKE})
  endif()

+  if (NOT COMMAND ANDROID_GET_ABI_RAWNAME)
+    macro( ANDROID_GET_ABI_RAWNAME TOOLCHAIN_FLAG VAR )
+      if( " ${TOOLCHAIN_FLAG}" STREQUAL " ARMEABI" )
+        set( ${VAR} "armeabi" )
+      elseif( " ${TOOLCHAIN_FLAG}" STREQUAL " ARMEABI_V7A" )
+        set( ${VAR} "armeabi-v7a" )
+      elseif( " ${TOOLCHAIN_FLAG}" STREQUAL " X86" )
+        set( ${VAR} "x86" )
+      elseif( " ${TOOLCHAIN_FLAG}" STREQUAL " MIPS" )
+        set( ${VAR} "mips" )
+      else()
+        set( ${VAR} "unknown" )
+      endif()
+    endmacro()
+  endif()
+
  # setup lists of camera libs
  foreach(abi ARMEABI ARMEABI_V7A X86 MIPS)
    ANDROID_GET_ABI_RAWNAME(${abi} ndkabi)
@@ -140,6 +140,6 @@ if(WIN32)
    install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib" COMPONENT dev)
    install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib" FILE OpenCVModules${modules_file_suffix}.cmake COMPONENT dev)
  endif()
-  install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}" COMPONENT dev)
-  install(FILES "${OpenCV_SOURCE_DIR}/cmake/OpenCVConfig.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/" COMPONENT dev)
+  install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" DESTINATION "." COMPONENT dev)
+  install(FILES "${OpenCV_SOURCE_DIR}/cmake/OpenCVConfig.cmake" DESTINATION "." COMPONENT dev)
 endif()
@@ -8,10 +8,6 @@
 #
 # ${BIN_DIR}/unix-install/opencv.pc -> For use *with* "make install"
 # -------------------------------------------------------------------------------------------
-set(prefix      "${CMAKE_INSTALL_PREFIX}")
-set(exec_prefix "\${prefix}")
-set(libdir      "") #TODO: need link paths for OpenCV_EXTRA_COMPONENTS
-set(includedir  "\${prefix}/${OPENCV_INCLUDE_INSTALL_PATH}")

 if(CMAKE_BUILD_TYPE MATCHES "Release")
  set(ocv_optkind OPT)
@@ -35,42 +31,66 @@ ocv_list_reverse(OpenCV_LIB_COMPONENTS)
 ocv_list_reverse(OpenCV_EXTRA_COMPONENTS)

 #build the list of components
-set(OpenCV_LIB_COMPONENTS_ "")
+
+# Note:
+#   when linking against static libraries, if libfoo depends on libbar, then
+#   libfoo must come first in the linker flags.
+
+# world is a special target whose library should come first, especially for
+# static link.
+if(OpenCV_LIB_COMPONENTS MATCHES "opencv_world")
+  list(REMOVE_ITEM OpenCV_LIB_COMPONENTS "opencv_world")
+  list(INSERT OpenCV_LIB_COMPONENTS 0 "opencv_world")
+endif()
+
+set(OpenCV_LIB_COMPONENTS_)
 foreach(CVLib ${OpenCV_LIB_COMPONENTS})
-  get_target_property(libpath ${CVLib} LOCATION_${CMAKE_BUILD_TYPE})
-  get_filename_component(libname "${libpath}" NAME)

-  if(INSTALL_TO_MANGLED_PATHS)
-    set(libname "${libname}.${OPENCV_VERSION}")
-  endif()
-
-  #need better solution....
-  if(libpath MATCHES "3rdparty")
-    set(installDir "share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH}")
+  get_target_property(libloc ${CVLib} LOCATION_${CMAKE_BUILD_TYPE})
+  if(libloc MATCHES "3rdparty")
+    set(libpath "\${exec_prefix}/share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH}")
  else()
-    set(installDir "${OPENCV_LIB_INSTALL_PATH}")
+    set(libpath "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
  endif()
+  list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libpath}")
+
+  get_filename_component(libname ${CVLib} NAME_WE)
+  string(REGEX REPLACE "^lib" "" libname "${libname}")
+  list(APPEND OpenCV_LIB_COMPONENTS_ "-l${libname}")

-  set(OpenCV_LIB_COMPONENTS_ "${OpenCV_LIB_COMPONENTS_} \${exec_prefix}/${installDir}/${libname}")
 endforeach()

 # add extra dependencies required for OpenCV
-set(OpenCV_LIB_COMPONENTS ${OpenCV_LIB_COMPONENTS_})
 if(OpenCV_EXTRA_COMPONENTS)
  foreach(extra_component ${OpenCV_EXTRA_COMPONENTS})

-    if(extra_component MATCHES "^-[lL]" OR extra_component MATCHES "[\\/]")
-      set(maybe_l_prefix "")
+    if(extra_component MATCHES "^-[lL]")
+      set(libprefix "")
+      set(libname "${extra_component}")
+    elseif(extra_component MATCHES "[\\/]")
+      get_filename_component(libdir "${extra_component}" PATH)
+      list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libdir}")
+      get_filename_component(libname "${extra_component}" NAME_WE)
+      string(REGEX REPLACE "^lib" "" libname "${libname}")
+      set(libprefix "-l")
    else()
-      set(maybe_l_prefix "-l")
+      set(libprefix "-l")
+      set(libname "${extra_component}")
    endif()
-
-    set(OpenCV_LIB_COMPONENTS "${OpenCV_LIB_COMPONENTS} ${maybe_l_prefix}${extra_component}")
+    list(APPEND OpenCV_LIB_COMPONENTS_ "${libprefix}${libname}")

  endforeach()
 endif()

+list(REMOVE_DUPLICATES OpenCV_LIB_COMPONENTS_)
+string(REPLACE ";" " " OpenCV_LIB_COMPONENTS "${OpenCV_LIB_COMPONENTS_}")
+
 #generate the .pc file
+set(prefix      "${CMAKE_INSTALL_PREFIX}")
+set(exec_prefix "\${prefix}")
+set(libdir      "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
+set(includedir  "\${prefix}/${OPENCV_INCLUDE_INSTALL_PATH}")
+
 if(INSTALL_TO_MANGLED_PATHS)
  set(OPENCV_PC_FILE_NAME "opencv-${OPENCV_VERSION}.pc")
 else()
@@ -106,7 +106,6 @@ endmacro()
 #   ocv_add_module(yaom INTERNAL opencv_core opencv_highgui opencv_flann OPTIONAL opencv_gpu)
 macro(ocv_add_module _name)
  string(TOLOWER "${_name}" name)
-  string(REGEX REPLACE "^opencv_" "" ${name} "${name}")
  set(the_module opencv_${name})

  # the first pass - collect modules info, the second pass - create targets
@@ -526,6 +525,28 @@ macro(ocv_glob_module_sources)
    list(APPEND lib_srcs ${cl_kernels} "${CMAKE_CURRENT_BINARY_DIR}/opencl_kernels.cpp" "${CMAKE_CURRENT_BINARY_DIR}/opencl_kernels.hpp")
  endif()

+  if(ENABLE_AVX)
+    file(GLOB avx_srcs "src/avx/*.cpp")
+    foreach(src ${avx_srcs})
+      if(CMAKE_COMPILER_IS_GNUCXX)
+        set_source_files_properties(${src} PROPERTIES COMPILE_FLAGS -mavx)
+      elseif(MSVC AND NOT MSVC_VERSION LESS 1600)
+        set_source_files_properties(${src} PROPERTIES COMPILE_FLAGS /arch:AVX)
+      endif()
+    endforeach()
+  endif()
+
+  if(ENABLE_AVX2)
+    file(GLOB avx2_srcs "src/avx2/*.cpp")
+    foreach(src ${avx2_srcs})
+      if(CMAKE_COMPILER_IS_GNUCXX)
+        set_source_files_properties(${src} PROPERTIES COMPILE_FLAGS -mavx2)
+      elseif(MSVC AND NOT MSVC_VERSION LESS 1800)
+        set_source_files_properties(${src} PROPERTIES COMPILE_FLAGS /arch:AVX2)
+      endif()
+    endforeach()
+  endif()
+
  source_group("Include" FILES ${lib_hdrs})
  source_group("Include\\detail" FILES ${lib_hdrs_detail})

@@ -595,9 +616,14 @@ macro(ocv_create_module)

  ocv_install_target(${the_module} EXPORT OpenCVModules
    RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} COMPONENT libs
-    LIBRARY DESTINATION ${OPENCV_LIB_INSTALL_PATH} COMPONENT libs
+    LIBRARY DESTINATION ${OPENCV_LIB_INSTALL_PATH} COMPONENT libs NAMELINK_SKIP
    ARCHIVE DESTINATION ${OPENCV_LIB_INSTALL_PATH} COMPONENT dev
    )
+  get_target_property(_target_type ${the_module} TYPE)
+  if("${_target_type}" STREQUAL "SHARED_LIBRARY")
+    install(TARGETS ${the_module}
+      LIBRARY DESTINATION ${OPENCV_LIB_INSTALL_PATH} COMPONENT dev NAMELINK_ONLY)
+  endif()

  # only "public" headers need to be installed
  if(OPENCV_MODULE_${the_module}_HEADERS AND ";${OPENCV_MODULES_PUBLIC};" MATCHES ";${the_module};")
@@ -680,7 +706,7 @@ macro(__ocv_parse_test_sources tests_type)
      set(__file_group_sources "")
    elseif(arg STREQUAL "DEPENDS_ON")
      set(__currentvar "OPENCV_TEST_${the_module}_DEPS")
-    elseif("${__currentvar}" STREQUAL "__file_group_sources" AND NOT __file_group_name)
+    elseif(" ${__currentvar}" STREQUAL " __file_group_sources" AND NOT __file_group_name) # spaces to avoid CMP0054
      set(__file_group_name "${arg}")
    else()
      list(APPEND ${__currentvar} "${arg}")
@@ -734,6 +760,22 @@ function(ocv_add_perf_tests)

      ocv_add_precompiled_headers(${the_target})

+      if(CMAKE_VERSION VERSION_GREATER "2.8" AND OPENCV_TEST_DATA_PATH)
+        add_test(NAME ${the_target} COMMAND ${the_target} --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity)
+
+        get_filename_component(cur_modules_loc "${CMAKE_CURRENT_SOURCE_DIR}/.." ABSOLUTE)
+        get_filename_component(default_modules_loc "${CMAKE_SOURCE_DIR}/modules" ABSOLUTE)
+        if("${cur_modules_loc}" STREQUAL "${default_modules_loc}")
+          set(test_category "Public")
+        else()
+          set(test_category "Extra")
+        endif()
+
+        set_tests_properties(${the_target} PROPERTIES
+          LABELS "${test_category};Sanity"
+          ENVIRONMENT "OPENCV_TEST_DATA_PATH=${OPENCV_TEST_DATA_PATH}")
+      endif()
+
    else(OCV_DEPENDENCIES_FOUND)
      # TODO: warn about unsatisfied dependencies
    endif(OCV_DEPENDENCIES_FOUND)
@@ -785,11 +827,24 @@ function(ocv_add_accuracy_tests)
        set_target_properties(${the_target} PROPERTIES FOLDER "tests accuracy")
      endif()

-      enable_testing()
-      get_target_property(LOC ${the_target} LOCATION)
-      add_test(${the_target} "${LOC}")
-
      ocv_add_precompiled_headers(${the_target})
+
+      if(CMAKE_VERSION VERSION_GREATER "2.8" AND OPENCV_TEST_DATA_PATH AND NOT "${the_target}" MATCHES "opencv_test_viz")
+        add_test(NAME ${the_target} COMMAND ${the_target})
+
+        get_filename_component(cur_modules_loc "${CMAKE_CURRENT_SOURCE_DIR}/.." ABSOLUTE)
+        get_filename_component(default_modules_loc "${CMAKE_SOURCE_DIR}/modules" ABSOLUTE)
+        if("${cur_modules_loc}" STREQUAL "${default_modules_loc}")
+          set(test_category "Public")
+        else()
+          set(test_category "Extra")
+        endif()
+
+        set_tests_properties(${the_target} PROPERTIES
+          LABELS "${test_category};Accuracy"
+          ENVIRONMENT "OPENCV_TEST_DATA_PATH=${OPENCV_TEST_DATA_PATH}")
+      endif()
+
    else(OCV_DEPENDENCIES_FOUND)
      # TODO: warn about unsatisfied dependencies
    endif(OCV_DEPENDENCIES_FOUND)
@@ -838,7 +893,7 @@ function(ocv_add_samples)
    file(GLOB sample_files "${samples_path}/*")
    install(FILES ${sample_files}
            DESTINATION ${OPENCV_SAMPLES_SRC_INSTALL_PATH}/${module_id}
-            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
+            PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ COMPONENT samples)
  endif()
 endfunction()

@@ -869,7 +924,7 @@ macro(__ocv_track_module_link_dependencies the_module optkind)
        if(__resolved_deps MATCHES "(^|;)${__rdep}(;|$)")
          #all dependencies of this module are already resolved
          list(APPEND ${the_module}_MODULE_DEPS_${optkind} "${__dep}")
-        else()
+        elseif(TARGET ${__dep})
          get_target_property(__module_type ${__dep} TYPE)
          if(__module_type STREQUAL "STATIC_LIBRARY")
            if(NOT DEFINED ${__dep}_LIB_DEPENDS_${optkind})
@@ -877,9 +932,9 @@ macro(__ocv_track_module_link_dependencies the_module optkind)
            endif()
            list(INSERT __mod_depends 0 ${${__dep}_LIB_DEPENDS_${optkind}} ${__dep})
            list(APPEND __resolved_deps "${__dep}")
-          elseif(NOT __module_type)
-            list(APPEND  ${the_module}_EXTRA_DEPS_${optkind} "${__dep}")
          endif()
+        else()
+          list(APPEND  ${the_module}_EXTRA_DEPS_${optkind} "${__dep}")
        endif()
      #else()
       # get_target_property(__dep_location "${__dep}" LOCATION)
@@ -41,16 +41,15 @@ MACRO(_PCH_GET_COMPILE_FLAGS _out_compile_flags)
    STRING(TOUPPER "CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}" _flags_var_name)
    SET(${_out_compile_flags} ${${_flags_var_name}} )

-    IF(CMAKE_COMPILER_IS_GNUCXX)
-
-        GET_TARGET_PROPERTY(_targetType ${_PCH_current_target} TYPE)
-        IF(${_targetType} STREQUAL SHARED_LIBRARY AND NOT WIN32)
-            LIST(APPEND ${_out_compile_flags} "-fPIC")
-        ENDIF()
-
-    ELSE()
-        ## TODO ... ? or does it work out of the box
-    ENDIF()
+    GET_TARGET_PROPERTY(_targetPIC ${_PCH_current_target} POSITION_INDEPENDENT_CODE)
+    if (_targetPIC AND CMAKE_CXX_COMPILE_OPTIONS_PIC)
+      LIST(APPEND ${_out_compile_flags} "${CMAKE_CXX_COMPILE_OPTIONS_PIC}")
+    elseif(CMAKE_COMPILER_IS_GNUCXX)
+      GET_TARGET_PROPERTY(_targetType ${_PCH_current_target} TYPE)
+      IF(${_targetType} STREQUAL SHARED_LIBRARY AND NOT WIN32)
+        LIST(APPEND ${_out_compile_flags} "-fPIC")
+      ENDIF()
+    endif()

    GET_DIRECTORY_PROPERTY(DIRINC INCLUDE_DIRECTORIES )
    FOREACH(item ${DIRINC})
@@ -147,9 +146,9 @@ MACRO(_PCH_GET_TARGET_COMPILE_FLAGS _cflags  _header_name _pch_path _dowarn )
        # if you have different versions of the headers for different build types
        # you may set _pch_dowarn
        IF (_dowarn)
-            SET(${_cflags} "${PCH_ADDITIONAL_COMPILER_FLAGS} -include \"${CMAKE_CURRENT_BINARY_DIR}/${_header_name}\" -Winvalid-pch " )
+            set(${_cflags} "${PCH_ADDITIONAL_COMPILER_FLAGS} -Winvalid-pch")
        ELSE (_dowarn)
-            SET(${_cflags} "${PCH_ADDITIONAL_COMPILER_FLAGS} -include \"${CMAKE_CURRENT_BINARY_DIR}/${_header_name}\" " )
+            set(${_cflags} "${PCH_ADDITIONAL_COMPILER_FLAGS}")
        ENDIF (_dowarn)

    ELSE(CMAKE_COMPILER_IS_GNUCXX)
@@ -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")

@@ -11,13 +14,15 @@ machine perception in the commercial products. Being a BSD-licensed product,
 OpenCV makes it easy for businesses to utilize and modify the code.")
  set(CPACK_PACKAGE_VENDOR "OpenCV Foundation")
  set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
-  set(CPACK_PACKAGE_CONTACT "admin@opencv.org")
+  set(CPACK_PACKAGE_CONTACT "OpenCV Developers <admin@opencv.org>")
  set(CPACK_PACKAGE_VERSION_MAJOR "${OPENCV_VERSION_MAJOR}")
  set(CPACK_PACKAGE_VERSION_MINOR "${OPENCV_VERSION_MINOR}")
  set(CPACK_PACKAGE_VERSION_PATCH "${OPENCV_VERSION_PATCH}")
  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")
@@ -57,54 +62,107 @@ set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 set(CPACK_DEBIAN_PACKAGE_SECTION "libs")
 set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "http://opencv.org")

+#display names
+set(CPACK_COMPONENT_DEV_DISPLAY_NAME     "Development files")
+set(CPACK_COMPONENT_DOCS_DISPLAY_NAME    "Documentation")
+set(CPACK_COMPONENT_JAVA_DISPLAY_NAME    "Java bindings")
+set(CPACK_COMPONENT_LIBS_DISPLAY_NAME    "Libraries and data")
+set(CPACK_COMPONENT_PYTHON_DISPLAY_NAME  "Python bindings")
+set(CPACK_COMPONENT_SAMPLES_DISPLAY_NAME "Samples")
+set(CPACK_COMPONENT_TESTS_DISPLAY_NAME   "Tests")
+
 #depencencies
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS TRUE)
-set(CPACK_COMPONENT_samples_DEPENDS libs)
-set(CPACK_COMPONENT_dev_DEPENDS libs)
-set(CPACK_COMPONENT_docs_DEPENDS libs)
-set(CPACK_COMPONENT_java_DEPENDS libs)
-set(CPACK_COMPONENT_python_DEPENDS libs)
-set(CPACK_COMPONENT_tests_DEPENDS libs)
+set(CPACK_COMPONENT_LIBS_REQUIRED TRUE)
+set(CPACK_COMPONENT_SAMPLES_DEPENDS libs dev)
+set(CPACK_COMPONENT_DEV_DEPENDS libs)
+set(CPACK_COMPONENT_DOCS_DEPENDS libs)
+set(CPACK_COMPONENT_JAVA_DEPENDS libs)
+set(CPACK_COMPONENT_PYTHON_DEPENDS libs)
+set(CPACK_DEB_PYTHON_PACKAGE_DEPENDS "python-numpy (>=${PYTHON_NUMPY_VERSION}), python${PYTHON_VERSION_MAJOR_MINOR}")
+set(CPACK_COMPONENT_TESTS_DEPENDS libs)
+if (HAVE_opencv_python)
+  set(CPACK_DEB_TESTS_PACKAGE_DEPENDS "python-numpy (>=${PYTHON_NUMPY_VERSION}), python${PYTHON_VERSION_MAJOR_MINOR}, python-py | python-pytest")
+endif()

 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-${cuda_version_suffix}")
-  set(CPACK_COMPONENT_dev_DEPENDS libs)
-  set(CPACK_DEB_dev_PACKAGE_DEPENDS "cuda-headers-${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()
 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_DESCRIPTION "Open Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_LIBS_NAME "libopencv")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Python bindings for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_PYTHON_NAME "libopencv-python")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Java bindings for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_JAVA_NAME "libopencv-java")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Development files for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_DEV_NAME "libopencv-dev")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Documentation for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_DOCS_NAME "libopencv-docs")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Samples for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_SAMPLES_NAME "libopencv-samples")
+  set(CPACK_DEBIAN_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_DESCRIPTION "Accuracy and performance tests for Open Source Computer Vision Library")
+  set(CPACK_DEBIAN_COMPONENT_TESTS_NAME "libopencv-tests")
+  set(CPACK_DEBIAN_COMPONENT_TESTS_SECTION "misc")
 endif(NOT OPENCV_CUSTOM_PACKAGE_INFO)

-if(NOT OPENCV_CUSTOM_PACKAGE_LAYOUT)
-  set(CPACK_libs_COMPONENT_INSTALL TRUE)
-  set(CPACK_dev_COMPONENT_INSTALL TRUE)
-  set(CPACK_docs_COMPONENT_INSTALL TRUE)
-  set(CPACK_python_COMPONENT_INSTALL TRUE)
-  set(CPACK_java_COMPONENT_INSTALL TRUE)
-  set(CPACK_samples_COMPONENT_INSTALL TRUE)
-endif(NOT OPENCV_CUSTOM_PACKAGE_LAYOUT)
+if(CPACK_GENERATOR STREQUAL "DEB")
+  find_program(GZIP_TOOL NAMES "gzip" PATHS "/bin" "/usr/bin" "/usr/local/bin")
+  if(NOT GZIP_TOOL)
+    message(FATAL_ERROR "Unable to find 'gzip' program")
+  endif()
+
+  execute_process(COMMAND "date" "-R"
+                  OUTPUT_VARIABLE CHANGELOG_PACKAGE_DATE
+                  OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  set(CHANGELOG_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION}")
+  set(ALL_COMPONENTS "libs" "dev" "docs" "python" "java" "samples" "tests")
+  foreach (comp ${ALL_COMPONENTS})
+    string(TOUPPER "${comp}" comp_upcase)
+    set(DEBIAN_CHANGELOG_OUT_FILE    "${CMAKE_BINARY_DIR}/deb-packages-gen/${comp}/changelog.Debian")
+    set(DEBIAN_CHANGELOG_OUT_FILE_GZ "${CMAKE_BINARY_DIR}/deb-packages-gen/${comp}/changelog.Debian.gz")
+    set(CHANGELOG_PACKAGE_NAME "${CPACK_DEBIAN_COMPONENT_${comp_upcase}_NAME}")
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/changelog.Debian.in" "${DEBIAN_CHANGELOG_OUT_FILE}" @ONLY)
+
+    execute_process(COMMAND "${GZIP_TOOL}" "-cf9" "${DEBIAN_CHANGELOG_OUT_FILE}"
+                    OUTPUT_FILE "${DEBIAN_CHANGELOG_OUT_FILE_GZ}"
+                    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}")
+
+    install(FILES "${DEBIAN_CHANGELOG_OUT_FILE_GZ}"
+            DESTINATION "share/doc/${CPACK_DEBIAN_COMPONENT_${comp_upcase}_NAME}"
+            COMPONENT "${comp}")
+  endforeach()
+endif()

 include(CPack)

-ENDif(EXISTS "${CMAKE_ROOT}/Modules/CPack.cmake")
+ENDif(EXISTS "${CMAKE_ROOT}/Modules/CPack.cmake")
@@ -200,12 +200,12 @@ macro(OCV_OPTION variable description value)
    endif()
  endforeach()
  unset(__varname)
-  if("${__condition}" STREQUAL "")
+  if(__condition STREQUAL "")
    set(__condition 2 GREATER 1)
  endif()

  if(${__condition})
-    if("${__value}" MATCHES ";")
+    if(__value MATCHES ";")
      if(${__value})
        option(${variable} "${description}" ON)
      else()
@@ -37,6 +37,21 @@
 #
 # ===================================================================================

+# Search packages for host system instead of packages for target system.
+# in case of cross compilation thess macro should be defined by toolchain file
+
+if(NOT COMMAND find_host_package)
+    macro(find_host_package)
+        find_package(${ARGN})
+    endmacro()
+endif()
+
+if(NOT COMMAND find_host_program)
+    macro(find_host_program)
+        find_program(${ARGN})
+    endmacro()
+endif()
+
 if(NOT DEFINED OpenCV_MODULES_SUFFIX)
  if(ANDROID)
    string(REPLACE - _ OpenCV_MODULES_SUFFIX "_${ANDROID_NDK_ABI_NAME}")
@@ -46,6 +61,13 @@ if(NOT DEFINED OpenCV_MODULES_SUFFIX)
 endif()

 if(NOT TARGET opencv_core)
+  # Extract directory name from full path of the file currently being processed.
+  # Note that CMake 2.8.3 introduced CMAKE_CURRENT_LIST_DIR. We reimplement it
+  # for older versions of CMake to support these as well.
+  if(CMAKE_VERSION VERSION_LESS "2.8.3")
+    get_filename_component(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+  endif()
+
  include(${CMAKE_CURRENT_LIST_DIR}/OpenCVModules${OpenCV_MODULES_SUFFIX}.cmake)
 endif()

@@ -216,7 +238,7 @@ foreach(__opttype OPT DBG)
  # CUDA
  if(OpenCV_CUDA_VERSION)
    if(NOT CUDA_FOUND)
-      find_package(CUDA ${OpenCV_CUDA_VERSION} EXACT REQUIRED)
+      find_host_package(CUDA ${OpenCV_CUDA_VERSION} EXACT REQUIRED)
    else()
      if(NOT CUDA_VERSION_STRING VERSION_EQUAL OpenCV_CUDA_VERSION)
        message(FATAL_ERROR "OpenCV static library was compiled with CUDA ${OpenCV_CUDA_VERSION} support. Please, use the same version or rebuild OpenCV with CUDA ${CUDA_VERSION_STRING}")
@@ -0,0 +1,4 @@
+@CHANGELOG_PACKAGE_NAME@ (@CPACK_PACKAGE_VERSION@) unstable; urgency=low
+  * Debian changelog stub. See upstream changelog or release notes in user
+     documentation for more details.
+ -- @CPACK_PACKAGE_CONTACT@  @CHANGELOG_PACKAGE_DATE@
@@ -18,11 +18,14 @@ if [ -z `which adb` ]; then
  return 1
 fi

+accuracy=`find "$OPENCV_TEST_PATH/$TARGET_ARCH" -maxdepth 1 -executable -name "opencv_test_*" -not -name opencv_test_ocl`
+performance=`find "$OPENCV_TEST_PATH/$TARGET_ARCH" -maxdepth 1 -executable -name "opencv_perf_*" -not -name opencv_perf_ocl`
+
 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_*;
+for t in $accuracy $performance;
 do
  test_name=`basename "$t"`
  report="$test_name-`date --rfc-3339=date`.xml"
@@ -1,25 +1,142 @@
-#!/bin/sh
+#!/bin/bash
+
+# Usage info
+
+usage()
+{
+cat << EOF
+usage: $0 [options]
+
+This script runs the OpenCV tests on linux device.
+
+OPTIONS:
+   -h           Show this message
+   -c           Color output
+EOF
+}
+
+# Parse options
+
+COLOR_OUTPUT=0
+while getopts “hc” OPTION
+do
+    case $OPTION in
+        h)
+            usage
+            exit 0
+            ;;
+        c)
+            COLOR_OUTPUT=1
+            ;;
+        ?)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+# Text style
+
+if [ $COLOR_OUTPUT -eq 1 ]; then
+    TEXT_RED="$(tput setaf 1)"
+    TEXT_GREEN="$(tput setaf 2)"
+    TEXT_CYAN="$(tput setaf 6)"
+    TEXT_RESET="$(tput sgr0)"
+else
+    TEXT_RED=""
+    TEXT_GREEN=""
+    TEXT_CYAN=""
+    TEXT_RESET=""
+fi
+
+# Test binaries and data paths

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

+# Run tests
+
 SUMMARY_STATUS=0
+FAILED_TESTS=""
+PASSED_TESTS=""
+
 for t in "$OPENCV_TEST_PATH/"opencv_test_* "$OPENCV_TEST_PATH/"opencv_perf_*;
 do
-  report="`basename "$t"`-`date --rfc-3339=date`.xml"
-  "$t" --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:"$report"
-  TEST_STATUS=$?
-  if [ $TEST_STATUS -ne 0 ]; then
-    SUMMARY_STATUS=$TEST_STATUS
-  fi
+    test_name=`basename "$t"`
+    report="$test_name-`date --rfc-3339=date`.xml"
+
+    cmd="$t --perf_min_samples=1 --perf_force_samples=1 --gtest_output=xml:\"$report\""
+
+    seg_reg="s/^/${TEXT_CYAN}[$test_name]${TEXT_RESET} /"                     # append test name
+    if [ $COLOR_OUTPUT -eq 1 ]; then
+        seg_reg="${seg_reg};s/\[==========\]/${TEXT_GREEN}&${TEXT_RESET}/g"   # green for [==========]
+        seg_reg="${seg_reg};s/\[----------\]/${TEXT_GREEN}&${TEXT_RESET}/g"   # green for [----------]
+        seg_reg="${seg_reg};s/\[ RUN      \]/${TEXT_GREEN}&${TEXT_RESET}/g"   # green for [ RUN      ]
+        seg_reg="${seg_reg};s/\[       OK \]/${TEXT_GREEN}&${TEXT_RESET}/g"   # green for [       OK ]
+        seg_reg="${seg_reg};s/\[  FAILED  \]/${TEXT_RED}&${TEXT_RESET}/g"     # red   for [  FAILED  ]
+        seg_reg="${seg_reg};s/\[  PASSED  \]/${TEXT_GREEN}&${TEXT_RESET}/g"   # green for [  PASSED  ]
+    fi
+
+    echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} RUN : $cmd"
+    $cmd | sed -r "$seg_reg"
+    ret=${PIPESTATUS[0]}
+    echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} RETURN_CODE : $ret"
+
+    if [ $ret -ne 0 ]; then
+        echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} ${TEXT_RED}FAILED${TEXT_RESET}"
+        SUMMARY_STATUS=1
+        FAILED_TESTS="$FAILED_TESTS $test_name"
+    else
+        echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} ${TEXT_GREEN}OK${TEXT_RESET}"
+        PASSED_TESTS="$PASSED_TESTS $test_name"
+    fi
+
+    echo ""
 done

+for t in $OPENCV_PYTHON_TESTS;
+do
+    test_name=`basename "$t"`
+    report="$test_name-`date --rfc-3339=date`.xml"
+
+    cmd="py.test --junitxml $report \"$OPENCV_TEST_PATH\"/$t"
+
+    seg_reg="s/^/${TEXT_CYAN}[$test_name]${TEXT_RESET} /"                 # append test name
+
+    echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} RUN : $cmd"
+    eval "$cmd" | sed -r "$seg_reg"
+
+    ret=${PIPESTATUS[0]}
+    echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} RETURN_CODE : $ret"
+
+    if [ $ret -ne 0 ]; then
+        echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} ${TEXT_RED}FAILED${TEXT_RESET}"
+        SUMMARY_STATUS=1
+        FAILED_TESTS="$FAILED_TESTS $test_name"
+    else
+        echo "${TEXT_CYAN}[$test_name]${TEXT_RESET} ${TEXT_GREEN}OK${TEXT_RESET}"
+        PASSED_TESTS="$PASSED_TESTS $test_name"
+    fi
+
+    echo ""
+done
+
+# Remove temporary test files
+
 rm -f /tmp/__opencv_temp.*

+# Report final status
+
+echo "${TEXT_CYAN}===============================================================${TEXT_RESET}"
+echo "${TEXT_CYAN}PASSED TESTS : $PASSED_TESTS${TEXT_RESET}"
+echo "${TEXT_CYAN}FAILED TESTS : $FAILED_TESTS${TEXT_RESET}"
 if [ $SUMMARY_STATUS -eq 0 ]; then
-  echo "All OpenCV tests finished successfully"
+    echo "${TEXT_GREEN}STATUS : OK${TEXT_RESET}"
+    echo "${TEXT_GREEN}STATUS : All OpenCV tests finished successfully${TEXT_RESET}"
 else
-  echo "OpenCV tests finished with status $SUMMARY_STATUS"
+    echo "${TEXT_RED}STATUS : FAIL${TEXT_RESET}"
+    echo "${TEXT_RED}STATUS : OpenCV tests finished with status $SUMMARY_STATUS${TEXT_RESET}"
 fi

-return $SUMMARY_STATUS
+exit $SUMMARY_STATUS
@@ -0,0 +1,74 @@
+@echo OFF
+setlocal ENABLEDELAYEDEXPANSION
+
+rem Process command line
+
+rem This script is designed to allow situations when the tests are installed in
+rem a different directory from the library.
+
+set OPENCV_DIR=%~1
+
+if "%OPENCV_DIR%" == "" (
+	echo>&2 This script runs the OpenCV tests on Windows.
+	echo>&2
+    echo>&2 usage: %0 ^<OpenCV install directory^>
+	exit /B 1
+)
+
+if NOT EXIST "%OPENCV_DIR%" (
+    echo>&2 error: "%OPENCV_DIR%" doesn't exist
+)
+
+rem Set up paths
+
+set PATH=%OPENCV_DIR%\@OPENCV_BIN_INSTALL_PATH@;%PATH%
+set OPENCV_TEST_PATH=%~dp0
+set OPENCV_TEST_DATA_PATH=%OPENCV_TEST_PATH%\..\testdata
+
+rem Run tests
+
+set SUMMARY_STATUS=0
+set FAILED_TESTS=
+set PASSED_TESTS=
+
+for %%t IN ("%OPENCV_TEST_PATH%\opencv_test_*.exe" "%OPENCV_TEST_PATH%\opencv_perf_*.exe") DO (
+    set test_name=%%~nt
+    set report=!test_name!.xml
+
+    set cmd="%%t" --perf_min_samples=1 --perf_force_samples=1 "--gtest_output=xml:!report!"
+
+    echo [!test_name!] RUN : !cmd!
+    !cmd!
+    set ret=!errorlevel!
+    echo [!test_name!] RETURN_CODE : !ret!
+
+    if !ret! EQU 0 (
+        echo [!test_name!] OK
+        set PASSED_TESTS=!PASSED_TESTS! !test_name!
+    ) ELSE (
+        echo [!test_name!] FAILED
+        set SUMMARY_STATUS=1
+        set FAILED_TESTS=!FAILED_TESTS! !test_name!
+    )
+
+    echo.
+)
+
+rem Remove temporary test files
+
+del /F /Q "%TMP%\ocv*.tmp*"
+
+rem Report final status
+
+echo ===============================================================
+echo PASSED TESTS : %PASSED_TESTS%
+echo FAILED TESTS : %FAILED_TESTS%
+if %SUMMARY_STATUS% EQU 0 (
+    echo STATUS : OK
+    echo STATUS : All OpenCV tests finished successfully
+) ELSE (
+    echo STATUS : FAIL
+    echo STATUS : OpenCV tests finished with status %SUMMARY_STATUS%
+)
+
+exit /B %SUMMARY_STATUS%
@@ -1,2 +0,0 @@
-# Environment setup for OpenCV testing
-export OPENCV_TEST_DATA_PATH=@CMAKE_INSTALL_PREFIX@/share/OpenCV/testdata
@@ -4,7 +4,7 @@ file(GLOB LBP_CASCADES lbpcascades/*.xml)
 if(ANDROID)
  install(FILES ${HAAR_CASCADES} DESTINATION sdk/etc/haarcascades COMPONENT libs)
  install(FILES ${LBP_CASCADES}  DESTINATION sdk/etc/lbpcascades  COMPONENT libs)
-elseif(NOT WIN32)
+else()
  install(FILES ${HAAR_CASCADES} DESTINATION share/OpenCV/haarcascades COMPONENT libs)
  install(FILES ${LBP_CASCADES}  DESTINATION share/OpenCV/lbpcascades  COMPONENT libs)
 endif()
@@ -12,7 +12,7 @@ endif()
 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)
+  else()
    # 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
@@ -1,11 +1,11 @@
-<!--
-    This is 20x34 detector of profile faces using LBP features.
-    It was created by Attila Novak during GSoC 2012.
-    Note that the detector only detects faces rotated to the right,
-    so you may want to run it on the original and on
-    the flipped image to detect different profile faces.
-->
 <?xml version="1.0"?>
+<!--
+This is 20x34 detector of profile faces using LBP features.
+It was created by Attila Novak during GSoC 2012.
+Note that the detector only detects faces rotated to the right,
+so you may want to run it on the original and on
+the flipped image to detect different profile faces.
+-->
 <opencv_storage>
 <cascade>
  <stageType>BOOST</stageType>
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <!--
    This is 12x80 detector of the silverware (forks, spoons, knives) using LBP features.
    It was created by Attila Novak during GSoC 2012.
@@ -6,7 +7,6 @@
    (probably should run detector several times).
    It also assumes the "top view" when the camera optical axis is orthogonal to the table plane.
 -->
-<?xml version="1.0"?>
 <opencv_storage>
 <cascade>
  <stageType>BOOST</stageType>
@@ -1,25 +1,15 @@
-#
+#-----------------------
 #  CMake file for OpenCV docs
-#
+#-----------------------

-if(BUILD_DOCS AND HAVE_SPHINX)
+if(BUILD_DOCS AND (HAVE_SPHINX OR HAVE_DOXYGEN))
+  set(HAVE_DOC_GENERATOR TRUE)
+else()
+  set(HAVE_DOC_GENERATOR FALSE)
+endif()

+if(HAVE_DOC_GENERATOR)
  project(opencv_docs)
-
-  set(DOC_LIST
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo2.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo-white.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv.ico"
-      "${OpenCV_SOURCE_DIR}/doc/pattern.png"
-      "${OpenCV_SOURCE_DIR}/doc/acircles_pattern.png")
-  if(NOT INSTALL_CREATE_DISTRIB)
-    list(APPEND DOC_LIST "${OpenCV_SOURCE_DIR}/doc/haartraining.htm")
-  endif()
-
-  set(OPTIONAL_DOC_LIST "")
-
-
  # build lists of modules to be documented
  set(BASE_MODULES "")
  set(EXTRA_MODULES "")
@@ -32,18 +22,29 @@ if(BUILD_DOCS AND HAVE_SPHINX)
      list(APPEND EXTRA_MODULES ${mod})
    endif()
  endforeach()
-
-  set(FIXED_ORDER_MODULES core imgproc highgui video calib3d features2d objdetect ml flann gpu photo stitching nonfree contrib legacy)
-
-  list(REMOVE_ITEM BASE_MODULES ${FIXED_ORDER_MODULES})
-
  ocv_list_sort(BASE_MODULES)
  ocv_list_sort(EXTRA_MODULES)
-
+  set(FIXED_ORDER_MODULES core imgproc highgui video calib3d features2d objdetect ml flann gpu photo stitching nonfree contrib legacy)
+  list(REMOVE_ITEM BASE_MODULES ${FIXED_ORDER_MODULES})
  set(BASE_MODULES ${FIXED_ORDER_MODULES} ${BASE_MODULES})

-  # build lists of documentation files and generate table of contents for reference manual
+  set(DOC_LIST
+      "${OpenCV_SOURCE_DIR}/doc/opencv-logo.png"
+      "${OpenCV_SOURCE_DIR}/doc/opencv-logo2.png"
+      "${OpenCV_SOURCE_DIR}/doc/opencv-logo-white.png"
+      "${OpenCV_SOURCE_DIR}/doc/opencv.ico"
+      "${OpenCV_SOURCE_DIR}/doc/pattern.png"
+      "${OpenCV_SOURCE_DIR}/doc/acircles_pattern.png")
+  set(OPTIONAL_DOC_LIST "")
+endif(HAVE_DOC_GENERATOR)

+# ========= Sphinx docs =========
+if(BUILD_DOCS AND HAVE_SPHINX)
+  if(NOT INSTALL_CREATE_DISTRIB)
+    list(APPEND DOC_LIST "${OpenCV_SOURCE_DIR}/doc/haartraining.htm")
+  endif()
+
+  # build lists of documentation files and generate table of contents for reference manual
  set(DOC_FAKE_ROOT "${CMAKE_CURRENT_BINARY_DIR}/fake-root")
  set(DOC_FAKE_ROOT_FILES "")

@@ -98,7 +99,6 @@ if(BUILD_DOCS AND HAVE_SPHINX)
  if(PDFLATEX_COMPILER)
    add_custom_target(docs
      COMMAND ${SPHINX_BUILD} -b latex -c "${CMAKE_CURRENT_SOURCE_DIR}" "${DOC_FAKE_ROOT}" .
-      COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/pics ${CMAKE_CURRENT_BINARY_DIR}/doc/opencv1/pics
      COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mymath.sty ${CMAKE_CURRENT_BINARY_DIR}
      COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_SOURCE_DIR}/patch_refman_latex.py" opencv2refman.tex
      COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_SOURCE_DIR}/patch_refman_latex.py" opencv2manager.tex
@@ -142,12 +142,48 @@ if(BUILD_DOCS AND HAVE_SPHINX)
    set_target_properties(html_docs PROPERTIES FOLDER "documentation")
  endif()

+endif()
+
+# ========= Doxygen docs =========
+if(BUILD_DOCS AND HAVE_DOXYGEN)
+  set(candidates)
+  set(all_headers)
+  set(all_images)
+  list(APPEND candidates ${BASE_MODULES} ${EXTRA_MODULES})
+  # blacklisted modules
+  ocv_list_filterout(candidates "^ts$")
+  # gathering headers
+  foreach(m ${candidates})
+    set(all_headers ${all_headers} "${OPENCV_MODULE_opencv_${m}_HEADERS}")
+    set(docs_dir "${OPENCV_MODULE_opencv_${m}_LOCATION}/doc")
+    if(EXISTS ${docs_dir})
+      set(all_images ${all_images} ${docs_dir})
+      set(all_headers ${all_headers} ${docs_dir})
+    endif()
+  endforeach()
+
+  # additional config
+  string(REGEX REPLACE ";" " \\\\\\n" CMAKE_DOXYGEN_INPUT_LIST "${all_headers}")
+  string(REGEX REPLACE ";" " \\\\\\n" CMAKE_DOXYGEN_IMAGE_PATH "${all_images}")
+  set(CMAKE_DOXYGEN_INDEX_MD "${CMAKE_SOURCE_DIR}/README.md")
+  set(CMAKE_DOXYGEN_LAYOUT "${CMAKE_CURRENT_SOURCE_DIR}/DoxygenLayout.xml")
+  set(CMAKE_DOXYGEN_OUTPUT_PATH "doxygen")
+
+  # writing file
+  set(doxyfile "${CMAKE_CURRENT_BINARY_DIR}/Doxyfile")
+  configure_file(Doxyfile.in ${doxyfile} @ONLY)
+
+  add_custom_target(doxygen
+    COMMAND ${DOXYGEN_BUILD} ${doxyfile}
+    DEPENDS ${doxyfile} ${all_headers} ${all_images})
+endif()
+
+if(HAVE_DOC_GENERATOR)
+  # installation
  foreach(f ${DOC_LIST})
    install(FILES "${f}" DESTINATION "${OPENCV_DOC_INSTALL_PATH}" COMPONENT docs)
  endforeach()
-
  foreach(f ${OPTIONAL_DOC_LIST})
    install(FILES "${f}" DESTINATION "${OPENCV_DOC_INSTALL_PATH}" OPTIONAL COMPONENT docs)
  endforeach()
-
-endif()
+endif(HAVE_DOC_GENERATOR)
@@ -1,124 +1,272 @@
-# Doxyfile 1.3.9.1
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME           = opencv
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = OpenCV
 PROJECT_NUMBER         = @OPENCV_VERSION@
-OUTPUT_DIRECTORY       = .
-CREATE_SUBDIRS         = NO
+PROJECT_BRIEF          = "Open Source Computer Vision"
+PROJECT_LOGO           = @CMAKE_CURRENT_SOURCE_DIR@/opencv-logo-small.png
+OUTPUT_DIRECTORY       = @CMAKE_DOXYGEN_OUTPUT_PATH@
+CREATE_SUBDIRS         = YES
 OUTPUT_LANGUAGE        = English
 BRIEF_MEMBER_DESC      = YES
-SORT_BRIEF_DOCS        = YES
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+STRIP_FROM_PATH        =
+STRIP_FROM_INC_PATH    =
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+ALIASES                =
+TCL_SUBST              =
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+EXTENSION_MAPPING      =
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = NO
+BUILTIN_STL_SUPPORT    = YES
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = YES
+LOOKUP_CACHE_SIZE      = 0
 EXTRACT_ALL            = YES
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = NO
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       =
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+FILE_VERSION_FILTER    =
+LAYOUT_FILE            = @CMAKE_DOXYGEN_LAYOUT@
+CITE_BIB_FILES         =
 QUIET                  = NO
 WARNINGS               = YES
 WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
 WARN_FORMAT            = "$file:$line: $text"
 WARN_LOGFILE           =
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
 INPUT                  = @CMAKE_DOXYGEN_INPUT_LIST@
-FILE_PATTERNS          = *.cpp *.h*
-RECURSIVE              = NO
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          =
+RECURSIVE              = YES
 EXCLUDE                =
 EXCLUDE_SYMLINKS       = NO
 EXCLUDE_PATTERNS       =
+EXCLUDE_SYMBOLS        = CV_WRAP \
+                         CV_EXPORTS \
+                         CV_EXPORTS_W \
+                         CV_WRAP_AS
 EXAMPLE_PATH           =
-EXAMPLE_PATTERNS       =
+EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
 IMAGE_PATH             = @CMAKE_DOXYGEN_IMAGE_PATH@
 INPUT_FILTER           =
 FILTER_PATTERNS        =
 FILTER_SOURCE_FILES    = NO
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-ALPHABETICAL_INDEX     = YES
+FILTER_SOURCE_PATTERNS =
+USE_MDFILE_AS_MAINPAGE = @CMAKE_DOXYGEN_INDEX_MD@
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = NO
+ALPHABETICAL_INDEX     = NO
 COLS_IN_ALPHA_INDEX    = 5
 IGNORE_PREFIX          =
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
 GENERATE_HTML          = YES
 HTML_OUTPUT            = html
 HTML_FILE_EXTENSION    = .html
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX         = NO
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
+HTML_HEADER            =
+HTML_FOOTER            =
+HTML_STYLESHEET        =
+HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_FILES       =
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+CHM_FILE               =
+HHC_LOCATION           =
+GENERATE_CHI           = NO
+CHM_INDEX_ENCODING     =
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QCH_FILE               =
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+QHP_CUST_FILTER_NAME   =
+QHP_CUST_FILTER_ATTRS  =
+QHP_SECT_FILTER_ATTRS  =
+QHG_LOCATION           =
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = YES
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = YES
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+MATHJAX_EXTENSIONS     =
+MATHJAX_CODEFILE       =
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHENGINE_URL       =
+SEARCHDATA_FILE        = searchdata.xml
+EXTERNAL_SEARCH_ID     =
+EXTRA_SEARCH_MAPPINGS  =
+GENERATE_LATEX         = YES
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         =
+LATEX_HEADER           =
+LATEX_FOOTER           =
+LATEX_EXTRA_FILES      =
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = YES
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+LATEX_SOURCE_CODE      = NO
+LATEX_BIB_STYLE        = plain
 GENERATE_RTF           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    =
+RTF_EXTENSIONS_FILE    =
 GENERATE_MAN           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
 GENERATE_XML           = NO
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
+XML_OUTPUT             = xml
+XML_PROGRAMLISTING     = YES
+GENERATE_DOCBOOK       = NO
+DOCBOOK_OUTPUT         = docbook
 GENERATE_AUTOGEN_DEF   = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
 GENERATE_PERLMOD       = NO
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX =
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
-EXPAND_ONLY_PREDEF     = YES
-PREDEFINED             = CV_EXPORTS= CVAPI(x)=x __cplusplus=1
-SEARCH_INCLUDES        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
 INCLUDE_PATH           =
 INCLUDE_FILE_PATTERNS  =
+PREDEFINED             = CV_WRAP= \
+                         CV_WRAP_AS(x)= \
+                         __cplusplus=1 \
+                         CVAPI(x)=x \
+                         CV_PROP_RW= \
+                         CV_EXPORTS= \
+                         CV_EXPORTS_W=
 EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
 TAGFILES               =
 GENERATE_TAGFILE       =
 ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
 PERL_PATH              = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
 CLASS_DIAGRAMS         = YES
-HIDE_UNDOC_RELATIONS   = YES
+MSCGEN_PATH            =
+DIA_PATH               =
+HIDE_UNDOC_RELATIONS   = NO
 HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+DOT_FONTPATH           =
 CLASS_GRAPH            = YES
 COLLABORATION_GRAPH    = YES
-UML_LOOK               = NO
+GROUP_GRAPHS           = YES
+UML_LOOK               = YES
+UML_LIMIT_NUM_FIELDS   = 10
 TEMPLATE_RELATIONS     = YES
 INCLUDE_GRAPH          = YES
 INCLUDED_BY_GRAPH      = YES
-CALL_GRAPH             = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = NO
 GRAPHICAL_HIERARCHY    = YES
-DOT_IMAGE_FORMAT       = png
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = svg
+INTERACTIVE_SVG        = YES
 DOT_PATH               =
 DOTFILE_DIRS           =
-MAX_DOT_GRAPH_WIDTH    = 1024
-MAX_DOT_GRAPH_HEIGHT   = 1024
+MSCFILE_DIRS           =
+DIAFILE_DIRS           =
+DOT_GRAPH_MAX_NODES    = 50
 MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
 GENERATE_LEGEND        = YES
 DOT_CLEANUP            = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
-#---------------------------------------------------------------------------
-SEARCHENGINE           = YES
@@ -0,0 +1,191 @@
+<doxygenlayout version="1.0">
+  <!-- Generated by doxygen 1.8.6 -->
+  <!-- Navigation index tabs for HTML output -->
+  <navindex>
+    <tab type="mainpage" visible="yes" title=""/>
+    <tab type="pages" visible="yes" title="" intro=""/>
+    <tab type="modules" visible="yes" title="" intro=""/>
+    <tab type="namespaces" visible="yes" title="">
+      <tab type="namespacelist" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classlist" visible="yes" title="" intro=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="filelist" visible="yes" title="Files index" intro=""/>
+      <tab type="globals" visible="yes" title="Global objects" intro=""/>
+    </tab>
+    <tab type="examples" visible="yes" title="" intro=""/>
+  </navindex>
+
+  <!-- Layout definition for a class page -->
+  <class>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <inheritancegraph visible="$CLASS_GRAPH"/>
+    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
+    <memberdecl>
+      <nestedclasses visible="yes" title=""/>
+      <publictypes title=""/>
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+      <interfaces title=""/>
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+      <publicmethods title=""/>
+      <publicstaticmethods title=""/>
+      <publicattributes title=""/>
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+      <protectedtypes title=""/>
+      <protectedslots title=""/>
+      <protectedmethods title=""/>
+      <protectedstaticmethods title=""/>
+      <protectedattributes title=""/>
+      <protectedstaticattributes title=""/>
+      <packagetypes title=""/>
+      <packagemethods title=""/>
+      <packagestaticmethods title=""/>
+      <packageattributes title=""/>
+      <packagestaticattributes title=""/>
+      <properties title=""/>
+      <events title=""/>
+      <privatetypes title=""/>
+      <privateslots title=""/>
+      <privatemethods title=""/>
+      <privatestaticmethods title=""/>
+      <privateattributes title=""/>
+      <privatestaticattributes title=""/>
+      <friends title=""/>
+      <related title="" subtitle=""/>
+      <membergroups visible="yes"/>
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+    <detaileddescription title=""/>
+    <memberdef>
+      <inlineclasses title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
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+      <interfaces title=""/>
+      <constructors title=""/>
+      <functions title=""/>
+      <related title=""/>
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+      <events title=""/>
+    </memberdef>
+    <allmemberslink visible="yes"/>
+    <usedfiles visible="$SHOW_USED_FILES"/>
+    <authorsection visible="yes"/>
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+
+  <!-- Layout definition for a namespace page -->
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+    <briefdescription visible="yes"/>
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+      <membergroups visible="yes"/>
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+    <detaileddescription title=""/>
+    <memberdef>
+      <inlineclasses title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </namespace>
+
+  <!-- Layout definition for a file page -->
+  <file>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <includegraph visible="$INCLUDE_GRAPH"/>
+    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
+    <sourcelink visible="yes"/>
+    <memberdecl>
+      <classes visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <defines title=""/>
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+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
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+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection/>
+  </file>
+
+  <!-- Layout definition for a group page -->
+  <group>
+    <briefdescription visible="yes"/>
+    <groupgraph visible="$GROUP_GRAPHS"/>
+    <memberdecl>
+      <nestedgroups visible="yes" title=""/>
+      <dirs visible="yes" title=""/>
+      <files visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <enumvalues title=""/>
+      <functions title=""/>
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+      <signals title=""/>
+      <publicslots title=""/>
+      <protectedslots title=""/>
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+      <properties title=""/>
+      <friends title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <pagedocs/>
+      <inlineclasses title=""/>
+      <defines title=""/>
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+      <enumvalues title=""/>
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+      <privateslots title=""/>
+      <events title=""/>
+      <properties title=""/>
+      <friends title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </group>
+
+  <!-- Layout definition for a directory page -->
+  <directory>
+    <briefdescription visible="yes"/>
+    <directorygraph visible="yes"/>
+    <memberdecl>
+      <dirs visible="yes"/>
+      <files visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+  </directory>
+</doxygenlayout>
@@ -25,7 +25,7 @@ The first thing you need to know about *Mat* is that you no longer need to manua

 *Mat* is basically a class with two data parts: the matrix header (containing information such as the size of the matrix, the method used for storing, at which address is the matrix stored, and so on) and a pointer to the matrix containing the pixel values (taking any dimensionality depending on the method chosen for storing) . The matrix header size is constant, however the size of the matrix itself may vary from image to image and usually is larger by orders of magnitude.

-OpenCV is an image processing library. It contains a large collection of image processing functions. To solve a computational challenge, most of the time you will end up using multiple functions of the library. Because of this, passing images to functions is a common practice. We should not forget that we are talking about image processing algorithms, which tend to be quite computational heavy. The last thing we want to do is  further decrease the speed of your program by making unnecessary copies of potentially *large* images.
+OpenCV is an image processing library. It contains a large collection of image processing functions. To solve a computational challenge, most of the time you will end up using multiple functions of the library. Because of this, passing images to functions is a common practice. We should not forget that we are talking about image processing algorithms, which tend to be quite computationally heavy. The last thing we want to do is  further decrease the speed of your program by making unnecessary copies of potentially *large* images.

 To tackle this issue OpenCV uses a reference counting system. The idea is that each *Mat* object has its own header, however the matrix may be shared between two instance of them by having their matrix pointers point to the same address. Moreover, the copy operators **will only copy the headers** and the pointer to the large matrix, not the data itself.

@@ -77,11 +77,11 @@ There are, however, many other color systems each with their own advantages:
 .. container:: enumeratevisibleitemswithsquare

   * RGB is the most common as our eyes use something similar, our display systems also compose colors using these.
-   * The HSV and HLS decompose colors into their hue, saturation and value/luminance components, which is a more natural way for us to describe colors.  You might, for example, dismiss the last component, making your algorithm less sensible to the light conditions of the input image.
+   * The HSV and HLS decompose colors into their hue, saturation and value/luminance components, which is a more natural way for us to describe colors.  You might, for example, dismiss the value component, making your algorithm less sensitive to the light conditions of the input image.
   * YCrCb is used by the popular JPEG image format.
   * CIE L*a*b* is a perceptually uniform color space, which comes handy if you need to measure the *distance* of a given color to another color.

-Each of the building components has their own valid domains. This leads to the data type used. How we store a component defines the control we have over its domain. The smallest data type possible is *char*, which means one byte or 8 bits. This may be unsigned (so can store values from 0 to 255) or signed (values from -127 to +127). Although in case of three components this already gives 16 million possible colors to represent (like in case of RGB) we may acquire an even finer control by using the float (4 byte = 32 bit) or double (8 byte = 64 bit) data types for each component. Nevertheless, remember that increasing the size of a component also increases the size of the whole picture in the memory.
+Each of the color components has its own valid domains. This brings us to the data type used: how we store a component defines the control we have over its domain. The smallest data type possible is *char*, which means one byte or 8 bits. This may be unsigned (so can store values from 0 to 255) or signed (values from -127 to +127). Although in the case of three components (such as RGB) this already gives 16 million representable colors. We may acquire an even finer control by using the float (4 byte = 32 bit) or double (8 byte = 64 bit) data types for each component. Nevertheless, remember that increasing the size of a component also increases the size of the whole picture in the memory.

 Creating a *Mat* object explicitly
 ==================================
@@ -111,7 +111,7 @@ Although *Mat* works really well as an image container, it is also a general mat

       CV_[The number of bits per item][Signed or Unsigned][Type Prefix]C[The channel number]

-    For instance, *CV_8UC3* means we use unsigned char types that are 8 bit long and each pixel has three of these to form the three channels. This are predefined for up to four channel numbers. The :basicstructures:`Scalar <scalar>` is four element short vector. Specify this and you can initialize all matrix points with a custom value. If you need more you can create the type with the upper macro, setting the channel number in parenthesis as you can see below.
+    For instance, *CV_8UC3* means we use unsigned char types that are 8 bit long and each pixel has three of these to form the three channels. These are predefined for up to four channel numbers. The :basicstructures:`Scalar <scalar>` is a four element short vector. Specify this and you can initialize all matrix points with a custom value. If you need more, you can create the type with the upper macro, setting the channel number in parentheses as shown below.

   + Use C/C++ arrays and initialize via constructor

@@ -120,7 +120,7 @@ Although *Mat* works really well as an image container, it is also a general mat
        :tab-width: 4
        :lines:  35-36

-     The upper example shows how to create a matrix with more than two dimensions. Specify its dimension, then pass a pointer containing the size for each dimension and the rest remains the same.
+     The above example shows how to create a matrix with more than two dimensions. Specify the number of dimensions, then pass a pointer containing the size for each dimension, and the rest remains the same.


   + Create a header for an already existing IplImage pointer:
@@ -143,7 +143,7 @@ Although *Mat* works really well as an image container, it is also a general mat

    You cannot initialize the matrix values with this construction. It will only reallocate its matrix data memory if the new size will not fit into the old one.

-   + MATLAB style initializer: :basicstructures:`zeros() <mat-zeros>`, :basicstructures:`ones() <mat-ones>`, :basicstructures:`eye() <mat-eye>`. Specify size and data type to use:
+   + MATLAB style initializers: :basicstructures:`zeros() <mat-zeros>`, :basicstructures:`ones() <mat-ones>`, :basicstructures:`eye() <mat-eye>`. Specify the size and data type to use:

     .. literalinclude:: ../../../../samples/cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
        :language: cpp
@@ -189,7 +189,7 @@ Although *Mat* works really well as an image container, it is also a general mat
 Output formatting
 =================

-In the above examples you could see the default formatting option. OpenCV, however, allows you to format your matrix output:
+In the previous examples you saw the default formatting option. OpenCV, however, allows you to format your matrix output:

 .. container:: enumeratevisibleitemswithsquare

@@ -251,7 +251,7 @@ In the above examples you could see the default formatting option. OpenCV, howev
 Output of other common items
 ============================

-OpenCV offers support for output of other common OpenCV data structures too via the << operator:
+Other common OpenCV data structures can also be output via the << operator:

 .. container:: enumeratevisibleitemswithsquare

@@ -1,3 +1,3 @@

 .. note::
-   Unfortunetly we have no tutorials into this section. And you can help us with that, since OpenCV is a community effort. If you have a tutorial suggestion or you have written a tutorial yourself (or coded a sample code) that you would like to see here, please contact follow these instructions: :ref:`howToWriteTutorial` and :how_to_contribute:`How to contribute <>`.
+   Unfortunately we have no tutorials into this section. And you can help us with that, since OpenCV is a community effort. If you have a tutorial suggestion or you have written a tutorial yourself (or coded a sample code) that you would like to see here, please follow these instructions: :ref:`howToWriteTutorial` and :how_to_contribute:`How to contribute <>`.
@@ -185,7 +185,7 @@ Code
     int result_cols =  img.cols - templ.cols + 1;
     int result_rows = img.rows - templ.rows + 1;

-     result.create( result_cols, result_rows, CV_32FC1 );
+     result.create( result_rows, result_cols, CV_32FC1 );

     /// Do the Matching and Normalize
     matchTemplate( img, templ, result, match_method );
@@ -271,7 +271,7 @@ Explanation
      int result_cols =  img.cols - templ.cols + 1;
      int result_rows = img.rows - templ.rows + 1;

-      result.create( result_cols, result_rows, CV_32FC1 );
+      result.create( result_rows, result_cols, CV_32FC1 );

 #. Perform the template matching operation:

@@ -48,10 +48,10 @@ The structure of package contents looks as follows:

 ::

-    OpenCV-2.4.9-android-sdk
+    OpenCV-2.4.11-android-sdk
    |_ apk
-    |   |_ OpenCV_2.4.9_binary_pack_armv7a.apk
-    |   |_ OpenCV_2.4.9_Manager_2.18_XXX.apk
+    |   |_ OpenCV_2.4.11_binary_pack_armv7a.apk
+    |   |_ OpenCV_2.4.11_Manager_2.20_XXX.apk
    |
    |_ doc
    |_ samples
@@ -157,10 +157,10 @@ Get the OpenCV4Android SDK

   .. code-block:: bash

-      unzip ~/Downloads/OpenCV-2.4.9-android-sdk.zip
+      unzip ~/Downloads/OpenCV-2.4.11-android-sdk.zip

-.. |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| replace:: :file:`OpenCV-2.4.11-android-sdk.zip`
+.. _opencv_android_bin_pack_url: http://sourceforge.net/projects/opencvlibrary/files/opencv-android/2.4.11/OpenCV-2.4.11-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_2.4.9_Manager_2.18_armv7a-neon.apk
+    <Android SDK path>/platform-tools/adb install <OpenCV4Android SDK path>/apk/OpenCV_2.4.11_Manager_2.20_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-2.4.9-android-sdk/sdk`).
+   (:file:`OpenCV-2.4.11-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 - 2.4.9``.
+   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.11``.

   .. 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-2.4.9-android-sdk/sdk`).
+   (:file:`OpenCV-2.4.11-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 - 2.4.9``;
+   :guilabel:`Project -> Properties -> Android -> Library -> Add` select ``OpenCV Library - 2.4.11``;

   .. 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-2.4.9-android-sdk>/sdk/native/libs/<target_arch>` to your
+   native libs from :file:`<OpenCV-2.4.11-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-2.4.9-android-sdk/sdk/native/jni/OpenCV.mk"``
+   ``"include path_to_OpenCV-2.4.11-android-sdk/sdk/native/jni/OpenCV.mk"``

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

   .. code-block:: make

-      include C:\Work\OpenCV4Android\OpenCV-2.4.9-android-sdk\sdk\native\jni\OpenCV.mk
+      include C:\Work\OpenCV4Android\OpenCV-2.4.11-android-sdk\sdk\native\jni\OpenCV.mk

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

@@ -75,6 +75,8 @@ Now we call the :imread:`imread <>` function which loads the image name specifie
   :tab-width: 4
   :lines: 17

+If the second argument is not specified, it is implied ``CV_LOAD_IMAGE_COLOR``
+
 .. note::

   OpenCV offers support for the image formats Windows bitmap (bmp), portable image formats (pbm, pgm, ppm) and Sun raster (sr, ras). With help of plugins (you need to specify to use them if you build yourself the library, nevertheless in the packages we ship present by default) you may also load image formats like JPEG (jpeg, jpg, jpe), JPEG 2000 (jp2 - codenamed in the CMake as Jasper), TIFF files (tiff, tif) and portable network graphics (png). Furthermore, OpenEXR is also a possibility.
@@ -83,14 +85,16 @@ After checking that the image data was loaded correctly, we want to display our

 .. container:: enumeratevisibleitemswithsquare

-   + *CV_WINDOW_AUTOSIZE* is the only supported one if you do not use the Qt backend. In this case the window size will take up the size of the image it shows. No resize permitted!
-   + *CV_WINDOW_NORMAL* on Qt you may use this to allow window resize. The image will resize itself according to the current window size. By using the | operator you also need to specify if you would like the image to keep its aspect ratio (*CV_WINDOW_KEEPRATIO*) or not (*CV_WINDOW_FREERATIO*).
+   + *WINDOW_AUTOSIZE* is the only supported one if you do not use the Qt backend. In this case the window size will take up the size of the image it shows. No resize permitted!
+   + *WINDOW_NORMAL* on Qt you may use this to allow window resize. The image will resize itself according to the current window size. By using the | operator you also need to specify if you would like the image to keep its aspect ratio (*WINDOW_KEEPRATIO*) or not (*WINDOW_FREERATIO*).

 .. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/display_image/display_image.cpp
   :language: cpp
   :lines: 25
   :tab-width: 4

+If the second argument is not specified by the user, it is implied to be ``WINDOW_AUTOSIZE``, which means you can't change the size of the image.
+
 Finally, to update the content of the OpenCV window with a new image use the :imshow:`imshow <>` function. Specify the OpenCV window name to update and the image to use during this operation:

 .. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/display_image/display_image.cpp
@@ -7,7 +7,7 @@ Okay, so assume you have just finished a project of yours implementing something
 based on OpenCV and you want to present/share it with the community. Luckily, OpenCV
 is an *open source project*. This means that anyone has access to the full source
 code and may propose extensions. And a good tutorial is a valuable addition to the
-library! Please read instructions on contribution process here:
+library! Please read instructions on the contribution process here:
 http://opencv.org/contribute.html. You may also find this page helpful:
 :how_to_contribute:`How to contribute <>`.

@@ -58,22 +58,22 @@ Usually, an OpenCV tutorial has the following parts:
    #. Images following the idea that "*A picture is worth a thousand words*".
    #. For more complex demonstrations you may create a video.

-As you can see you will need at least some basic knowledge of the *reST* system in order to complete the task at hand with success. However, don't worry *reST* (and *Sphinx*) was made with simplicity in mind. It is easy to grasp its basics. I found that the `OpenAlea documentations introduction on this subject <http://openalea.gforge.inria.fr/doc/openalea/doc/_build/html/source/tutorial/rest_syntax.html>`_ (or the `Thomas Cokelaer one <http://thomas-cokelaer.info/tutorials/sphinx/rest_syntax.html>`_ ) should enough for this. If for some directive or feature you need a more in-depth description look it up in the official |reST|_ help files or at the |Sphinx|_ documentation.
+As you can see you will need at least some basic knowledge of the *reST* system in order to complete the task at hand with success. However, don't worry: *reST* (and *Sphinx*) was made with simplicity in mind. It is easy to grasp its basics. I found that the `OpenAlea documentations introduction on this subject <http://openalea.gforge.inria.fr/doc/openalea/doc/_build/html/source/tutorial/rest_syntax.html>`_ (or the `Thomas Cokelaer one <http://thomas-cokelaer.info/tutorials/sphinx/rest_syntax.html>`_) to be enough for this. If for some directive or feature you need a more in-depth description look it up in the official |reST|_ help files or at the |Sphinx|_ documentation.

-In our world achieving some tasks is possible in multiple ways. However, some of the roads to take may have obvious or hidden advantages over others. Then again, in some other cases it may come down to just simple user preference. Here, I'll present how I decided to write the tutorials, based on my personal experience. If for some of them you know a better solution and you can back it up feel free to use that. I've nothing against it, as long as it gets the job done in an elegant fashion.
+In our world, achieving some tasks is possible in multiple ways. However, some of the roads to take may have obvious or hidden advantages over others. Then again, in some other cases it may come down to just simple user preference. Here, I'll present how I decided to write the tutorials, based on my personal experience. If for some of them you know a better solution and you can back it up feel free to use that. I've nothing against it, as long as it gets the job done in an elegant fashion.

-Now the best would be if you could make the integration yourself. For this you need first to have the source code. I recommend following the guides for your operating system on acquiring OpenCV sources. For Linux users look :ref:`here <Linux-Installation>` and for :ref:`Windows here <Windows_Installation>`. You must also install python and sphinx with its dependencies in order to be able to build the documentation.
+Now the best option would be to do the integration yourself. For this, you first need to have the source code. I recommend following the guides for your operating system on acquiring OpenCV sources. For Linux users look :ref:`here <Linux-Installation>` and for :ref:`Windows here <Windows_Installation>`. You must also install python and sphinx with its dependencies in order to be able to build the documentation.

-Once you have downloaded the repository to your hard drive you can take a look in the OpenCV directory to make sure you have both the samples and doc folder present. Anyone may download the latest source files from :file:`git://github.com/Itseez/opencv.git` . Nevertheless, not everyone has upload (commit/submit) rights. This is to protect the integrity of the library. If you plan doing more than one tutorial, and would like to have an account with commit user rights you should first register an account at http://code.opencv.org/ and then contact OpenCV administrator -delete-admin@-delete-opencv.org. Otherwise, you can just send the resulting files to us at -delete-admin@-delete-opencv.org and we'll add it.
+Once you have downloaded the repository to your hard drive you can take a look in the OpenCV directory to make sure you have both the samples and doc folder present. Anyone may download the latest source files from :file:`git://github.com/Itseez/opencv.git`. Nevertheless, not everyone has upload (commit/submit) rights. This is to protect the integrity of the library. If you plan doing more than one tutorial, and would like to have an account with commit user rights you should first register an account at http://code.opencv.org/ and then contact OpenCV administrator -delete-admin@-delete-opencv.org. Otherwise, you can just send the resulting files to us at -delete-admin@-delete-opencv.org and we'll add it.

 Format the Source Code
 ======================

-Before I start this let it be clear: the main goal is to have a working sample code. However, for your tutorial to be of a top notch quality you should follow a few guide lines I am going to present here. In case you have an application by using the older interface (with *IplImage*, *cvMat*, *cvLoadImage* and such) consider migrating it to the new C++ interface. The tutorials are intended to be an up to date help for our users. And as of OpenCV 2 the OpenCV emphasis on using the less error prone and clearer C++ interface. Therefore, if possible please convert your code to the C++ interface. For this it may help to read the :ref:`InteroperabilityWithOpenCV1` tutorial. However, once you have an OpenCV 2 working code, then you should make your source code snippet as easy to read as possible. Here're a couple of advices for this:
+Before I start this let it be clear: the main goal is to have a working sample code. However, for your tutorial to be of a top notch quality you should follow a few guidelines I am going to present here. In case you have an application using the older interface (with *IplImage*, *cvMat*, *cvLoadImage* and such) consider migrating it to the new C++ interface. The tutorials are intended to be an up to date help for our users. And as of OpenCV 2, the OpenCV emphasis is on using the less error prone and clearer C++ interface. Therefore, if possible, please convert your code to the C++ interface. For this it may help to read the :ref:`InteroperabilityWithOpenCV1` tutorial. However, once you have working OpenCV 2 code, then you should make your source code snippet as easy to read as possible. Here is some advice for this:

 .. container:: enumeratevisibleitemswithsquare

-   + Add a standard output with the description of what your program does. Keep it short and yet, descriptive. This output is at the start of the program. In my example files this usually takes the form of a *help* function containing the output. This way both the source file viewer and application runner can see what all is about in your sample. Here's an instance of this:
+   + Add a standard output with the description of what your program does. Keep it short, but descriptive. This output is at the start of the program. In my example files this usually takes the form of a *help* function containing the output. This way, both the source file viewer and application runner can see what your sample is all about. Here's an example of this:

     .. code-block:: cpp

@@ -95,26 +95,26 @@ Before I start this let it be clear: the main goal is to have a working sample c
        // here comes the actual source code
        }

-     Additionally, finalize the description with a short usage guide. This way the user will know how to call your programs, what leads us to the next point.
+     Additionally, finalize the description with a short usage guide. This way the user will know how to call your programs, which leads us to the next point.

-   + Prefer command line argument controlling instead of hard coded one. If your program has some variables that may be changed use command line arguments for this. The tutorials, can be a simple try-out ground for the user. If you offer command line controlling for the input image (for example), then you offer the possibility for the user to try it out with his/her own images, without the need to mess in the source code. In the upper example you can see that the input image, channel and codec selection may all be changed from the command line. Just compile the program and run it with your own input arguments.
+   + Prefer command line arguments over hard coded values. If your program has some variables that may be changed, use command line arguments for this. The tutorials can be a simple try-out ground for the user. If you offer command line arguments for the input image (for example), then you offer the possibility for the user to try it out with his/her own images, without the need to mess with the source code. In the above example, you can see that the input image, channel and codec selection may all be changed from the command line. Just compile the program and run it with your own input arguments.

-   + Be as verbose as possible. There is no shame in filling the source code with comments. This way the more advanced user may figure out what's happening right from the sample code. This advice goes for the output console too. Specify to the user what's happening. Never leave the user hanging there and thinking on: "Is this program now crashing or just doing some computationally intensive task?." So, if you do a training task that may take some time, make sure you print out a message about this before starting and after finishing it.
+   + Be as verbose as possible. There is no shame in filling the source code with comments. This way the more advanced user may figure out what's happening right from the sample code. This advice goes for the output console too. Specify to the user what's happening. Never leave the user hanging there and thinking "is this program crashing, or just doing some computationally intensive task?." So, if you do a training task that may take some time, make sure you print out a message about this before starting and after finishing it.

-   + Throw out unnecessary stuff from your source code. This is a warning to not take the previous point too seriously. Balance is the key. If it's something that can be done in a fewer lines or simpler than that's the way you should do it. Nevertheless, if for some reason you have such sections notify the user why you have chosen to do so. Keep the amount of information as low as possible, while still getting the job done in an elegant way.
+   + Throw out unnecessary stuff from your source code. This is a warning to not take the previous point too seriously. Balance is the key. If it's something that can be done in fewer lines or more simply, then that's the way you should do it. Nevertheless, if you have omitted details, tell the user why you have chosen to do so. Keep the amount of information as low as possible, while still getting the job done in an elegant way.

-   + Put your sample file into the :file:`opencv/samples/cpp/tutorial_code/sectionName` folder. If you write a tutorial for other languages than cpp, then change that part of the path. Before completing this you need to decide that to what section (module) does your tutorial goes. Think about on what module relies most heavily your code and that is the one to use. If the answer to this question is more than one modules then the *general* section is the one to use. For finding the *opencv* directory open up your file system and navigate where you downloaded our repository.
+   + Put your sample file into the :file:`opencv/samples/cpp/tutorial_code/sectionName` folder. If you write a tutorial for languages other than cpp, then change that part of the path. Before completing this you need to decide the section (module) your tutorial belongs to. Decide which module your code relies on most heavily, and that is the one to use. If the answer to this question is more than one module then the *general* section is the one to use. To find the *opencv* directory, navigate to where you downloaded our repository.

-   + If the input resources are hard to acquire for the end user consider adding a few of them to the :file:`opencv/samples/cpp/tutorial_code/images`. Make sure that who reads your code can try it out!
+   + If the input resources are hard to acquire for the end user, consider adding a few of them to the :file:`opencv/samples/cpp/tutorial_code/images`. Make sure that whoever reads your code can try it out!

 Add the TOC entry
 =================

-For this you will need to know some |reST|_. There is no going around this. |reST|_ files have **rst** extensions. However, these are simple text files. Use any text editor you like. Finding a text editor that offers syntax highlighting for |reST|_ was quite a challenge at the time of writing this tutorial. In my experience, `Intype <http://intype.info/>`_ is a solid option on Windows, although there is still place for improvement.
+For this you will need to know some |reST|_. There is no going around this. |reST|_ files have **rst** extensions. However, these are simple text files. You can use any text editor you like, but those that offer syntax highlighting for |reST|_ will be most useful.

-Adding your source code to a table of content is important for multiple reasons. First and foremost this will allow for the user base to find your tutorial from our websites tutorial table of content. Secondly, if you omit this *Sphinx* will throw a warning that your tutorial file isn't part of any TOC tree entry. And there is nothing more than the developer team hates than an ever increasing warning/error list for their builds. *Sphinx* also uses this to build up the previous-back-up buttons on the website. Finally, omitting this step will lead to that your tutorial will **not** be added to the PDF version of the tutorials.
+Adding your tutorial to a table of content is important for multiple reasons. First and foremost this will allow for the user base to find your tutorial from our website. Secondly, if you omit this, *Sphinx* will throw a warning that your tutorial file isn't part of any TOC tree entry. And there is nothing more than the developer team hates than an ever increasing warning/error list in their builds. *Sphinx* also uses this to build the previous/back/up buttons on the website. Finally, omitting this step will mean your tutorial will **not** be added to the PDF version of the tutorials.

-Navigate to the :file:`opencv/doc/tutorials/section/table_of_content_section` folder (where the section is the module to which you're adding the tutorial). Open the *table_of_content_section* file. Now this may have two forms. If no prior tutorials are present in this section that there is a template message about this and has the following form:
+Navigate to the :file:`opencv/doc/tutorials/section/table_of_content_section` folder (where the section is the module to which you're adding the tutorial). Open the *table_of_content_section* file. Now this may have two forms. If no prior tutorials are present in this section, there will be a template containing a message about this, with the following form:

 .. code-block:: rst

@@ -127,9 +127,9 @@ Navigate to the :file:`opencv/doc/tutorials/section/table_of_content_section` fo
   .. raw:: latex
      \pagebreak

-The first line is a reference to the section title in the reST system. The section title will be a link and you may refer to it via the ``:ref:`` directive. The *include* directive imports the template text from the definitions directories *noContent.rst* file. *Sphinx* does not creates the PDF from scratch. It does this by first creating a latex file. Then creates the PDF from the latex file. With the *raw* directive you can directly add to this output commands. Its unique argument is for what kind of output to add the content of the directive. For the PDFs it may happen that multiple sections will overlap on a single page. To avoid this at the end of the TOC we add a *pagebreak* latex command, that hints to the LATEX system that the next line should be on a new page.
+The first line is a reference to the section title in the reST system. The section title will be a link and you may refer to it via the ``:ref:`` directive. The *include* directive imports the template text from the definition directory's *noContent.rst* file. *Sphinx* does not create the PDF from scratch. It does this by first creating a LaTeX file, then creating the PDF from the LaTeX file. With the *raw* directive, you can directly add to an output file. Its unique argument tells Sphinx which output type to add the content of the directive to. For the PDFs it may happen that multiple sections will overlap on a single page. To avoid this at the end of the TOC we add a *pagebreak* latex command, that hints to the LaTeX system that the next line should be on a new page.

-If you have one of this, try to transform it to the following form:
+If you have one of these, change it to match the following form:

 .. include:: ../../definitions/tocDefinitions.rst

@@ -160,14 +160,14 @@ If you have one of this, try to transform it to the following form:
      :hidden:
      ../mat - the basic image container/mat - the basic image container

-If this is already present just add a new section of the content between the include and the raw directives (excluding those lines). Here you'll see a new include directive. This should be present only once in a TOC tree and the reST file contains the definitions of all the authors contributing to the OpenCV tutorials. We are a multicultural community and some of our name may contain some funky characters. However, reST **only supports** ANSI characters. Luckily we can specify Unicode characters with the *unicode* directive. Doing this for all of your tutorials is a troublesome procedure. Therefore, the tocDefinitions file contains the definition of your author name. Add it here once and afterwards just use the replace construction. For example here's the definition for my name:
+If this is already present, just add a new section of the content between the include and the raw directives (excluding those lines). Here you'll see a new include directive. This should be present only once in a TOC tree, and the reST file contains the definitions of all the authors contributing to the OpenCV tutorials. We are a multicultural community and some of our name may contain some funky characters. However, reST **only supports** ANSI characters. Luckily we can specify Unicode characters with the *unicode* directive. Doing this for all of your tutorials is a troublesome procedure. Therefore, the tocDefinitions file contains the definition of your author name. Add it here once and afterwards just use the replace construction. For example, here's the definition for my name:

 .. code-block:: rst

   .. |Author_BernatG| unicode:: Bern U+00E1 t U+0020 G U+00E1 bor

-The ``|Author_BernatG|`` is the text definitions alias. I can use later this to add the definition, like I've done in the TOCs *Author* part. After the ``::`` and a space you start the definition. If you want to add an UNICODE character (non-ASCI) leave an empty space and specify it in the format U+(UNICODE code). To find the UNICODE code of a character I recommend using the `FileFormat <http://www.fileformat.info>`_ websites service. Spaces are trimmed from the definition, therefore we add a space by its UNICODE character (U+0020).
-Until the *raw* directive what you can see is a TOC tree entry. Here's how a TOC entry will look like:
+The ``|Author_BernatG|`` is the text definition's alias. I can use this later to add the definition, like I've done in the TOCs *Author* part. After the ``::`` and a space, you start the definition. If you want to add an UNICODE character (non-ASCII) leave an empty space and specify it in the format U+(UNICODE code). To find the UNICODE code of a character I recommend using the `FileFormat <http://www.fileformat.info>`_ website's service. Spaces are trimmed from the definition, therefore we add a space by its UNICODE character (U+0020).
+Everything until the *raw* directive is part of a TOC tree entry. Here's what a TOC entry will look like:

 .. code-block:: rst

@@ -183,19 +183,19 @@ Until the *raw* directive what you can see is a TOC tree entry. Here's how a TOC
                   :height: 90pt
                   :width:  90pt

-As you can see we have an image to the left and a description box to the right. To create two boxes we use a table with two columns and a single row. In the left column is the image and in the right one the description. However, the image directive is way too long to fit in a column. Therefore, we need to use the substitution definition system. We add this definition after the TOC tree. All images for the TOC tree are to be put in the images folder near its |reST|_ file. We use the point measurement system because we are also creating PDFs. PDFs are printable documents, where there is no such thing that pixels (px), just points (pt). And while generally space is no problem for web pages (we have monitors with **huge** resolutions) the size of the paper (A4 or letter) is constant and will be for a long time in the future. Therefore, size constrains come in play more like for the PDF, than the generated HTML code.
+As you can see, we have an image to the left and a description box to the right. To create two boxes, we use a table with two columns and a single row. In the left column is the image and in the right one the description. However, the image directive is way too long to fit in a column. Therefore, we need to use the substitution definition system. We add this definition after the TOC tree. All images for the TOC tree are to be put in the images folder near its |reST|_ file. We use the point measurement system because we are also creating PDFs. PDFs are printable documents, where there is no such thing as pixels (px), just points (pt). And while generally space is no problem for web pages (we have monitors with **huge** resolutions) the size of the paper (A4 or letter) is constant and will be for a long time in the future. Therefore, size constraints come into play more with the PDF than the generated HTML code.

-Now your images should be as small as possible, while still offering the intended information for the user. Remember that the tutorial will become part of the OpenCV source code. If you add large images (that manifest in form of large image size) it will just increase the size of the repository pointlessly. If someone wants to download it later, its download time will be that much longer. Not to mention the larger PDF size for the tutorials and the longer load time for the web pages. In terms of pixels a TOC image should not be larger than 120 X 120 pixels. Resize your images if they are larger!
+Now your images should be as small as possible, while still conveying the intended information to the user. Remember that the tutorial will become part of the OpenCV source code. If you add large images (hence large image sizes) it will just increase the size of the repository pointlessly. If someone wants to download it later, its download time will be that much longer. Not to mention the larger PDF size for the tutorials and the longer load time for the web pages. In terms of pixels a TOC image should not be larger than 120 X 120 pixels. Resize your images if they are larger!

-.. note:: If you add a larger image and specify a smaller image size, *Sphinx* will not resize that. At build time will add the full size image and the resize will be done by your browser after the image is loaded. A 120 X 120 image is somewhere below 10KB. If you add a 110KB image, you have just pointlessly added a 100KB extra data to transfer over the internet for every user!
+.. note:: If you add a larger image and specify a smaller image size, *Sphinx* will not resize that. At build time it will add the full size image and the resize will be done by your browser after the image is loaded. A 120 X 120 image is somewhere below 10KB. If you add a 110KB image, you have just pointlessly added a 100KB extra data to transfer over the internet for every user!

-Generally speaking you shouldn't need to specify your images size (excluding the TOC entries). If no such is found *Sphinx* will use the size of the image itself (so no resize occurs). Then again if for some reason you decide to specify a size that should be the **width** of the image rather than its height. The reason for this again goes back to the PDFs. On a PDF page the height is larger than the width. In the PDF the images will not be resized. If you specify a size that does not fit in the page, then what does not fits in **will be cut off**. When creating your images for your tutorial you should try to keep the image widths below 500 pixels, and calculate with around 400 point page width when specifying image widths.
+Generally speaking you shouldn't need to specify your images size (excluding the TOC entries). If not specified, *Sphinx* will use the size of the image itself (so no resize occurs). Then again, if for some reason you decide to specify a size, that should be the **width** of the image rather than its height. The reason for this again goes back to the PDFs. On a PDF page the height is larger than the width. In the PDF the images will not be resized. If you specify a size that does not fit in the page, then what does not fit in **will be cut off**. When creating images for your tutorial you should try to keep the image widths below 500 pixels, and calculate with around 400 point page width when specifying image widths.

-The image format depends on the content of the image. If you have some complex scene (many random like colors) then use *jpg*. Otherwise, prefer using *png*. They are even some tools out there that optimize the size of *PNG* images, such as `PNGGauntlet <http://pnggauntlet.com/>`_. Use them to make your images as small as possible in size. Now on the right side column of the table we add the information about the tutorial:
+The image format depends on the content of the image. If you have a complex scene (many random like colors) then use *jpg*. Otherwise, prefer using *png*. There are even some tools out there that optimize the size of *PNG* images, such as `PNGGauntlet <http://pnggauntlet.com/>`_. Use them to make your images as small as possible in size. Now on the right side column of the table we add the information about the tutorial:

 .. container:: enumeratevisibleitemswithsquare

-   + In the first line it is the title of the tutorial. However, there is no need to specify it explicitly. We use the reference system. We'll start up our tutorial with a reference specification, just like in case of this TOC entry with its  `` .. _Table-Of-Content-Section:`` . If after this you have a title (pointed out by the following line of -), then Sphinx will replace the ``:ref:`Table-Of-Content-Section``` directive with the tile of the section in reference form (creates a link in web page). Here's how the definition looks in my case:
+   + The first line is the title of the tutorial. However, there is no need to specify it explicitly, since we can use the reference system. Sphinx will replace a ``:ref:`matTheBasicImageContainer``` directive with a link using the title of the ``matTheBasicImageContainer`` section, which is defined in the tutorial. Here's how the definition looks in my case:

     .. code-block:: rst

@@ -204,11 +204,11 @@ The image format depends on the content of the image. If you have some complex s
           *******************************

     Note, that according to the |reST|_ rules the * should be as long as your title.
-   + Compatibility. What version of OpenCV is required to run your sample code.
+   + Compatibility. Which version of OpenCV is required to run your sample code.
   + Author. Use the substitution markup of |reST|_.
   + A short sentence describing the essence of your tutorial.

-Now before each TOC entry you need to add the three lines of:
+Now before each TOC entry you need to add three lines:

 .. code-block:: cpp

@@ -216,11 +216,11 @@ Now before each TOC entry you need to add the three lines of:
     .. tabularcolumns:: m{100pt} m{300pt}
     .. cssclass:: toctableopencv

-The plus sign (+) is to enumerate tutorials by using bullet points. So for every TOC entry we have a corresponding bullet point represented by the +. Sphinx is highly indenting sensitive. Indentation is used to express from which point until to which point does a construction last. Un-indentation means end of that construction. So to keep all the bullet points to the same group the following TOC entries (until the next +) should be indented by two spaces.
+The plus sign (+) is to enumerate tutorials by using bullet points. So for every TOC entry we have a corresponding bullet point represented by the +. Sphinx is highly sensitive to indentation. This is used to express from which point until to which point does a construction last. Un-indentation means end of that construction. So to keep all the bullet points belonging to the same group the following TOC entry (until the next +) should be indented by two spaces.

-Here, I should also mention that **always** prefer using spaces instead of tabs. Working with only spaces makes possible that if we both use monotype fonts we will see the same thing. Tab size is text editor dependent and as should be avoided. *Sphinx* translates all tabs into 8 spaces before interpreting it.
+Here, I should also mention to **always** prefer using spaces instead of tabs. Working with only spaces means that if we both use monotype fonts we will see the same thing. Tab size is text editor dependent and so should be avoided. *Sphinx* translates all tabs into 8 spaces before interpreting it.

-It turns out that the automatic formatting of both the HTML and PDF(LATEX) system messes up our tables. Therefore, we need to help them out a little. For the PDF generation we add the ``.. tabularcolumns:: m{100pt} m{300pt}`` directive. This means that the first column should be 100 points wide and middle aligned. For the HTML look we simply name the following table of a *toctableopencv* class type. Then, we can modify the look of the table by modifying the CSS of our web page. The CSS definitions go into the :file:`opencv/doc/_themes/blue/static/default.css_t` file.
+It turns out that the automatic formatting of both the HTML and PDF (LaTeX) system messes up our tables. Therefore, we need to help them out a little. For the PDF generation we add the ``.. tabularcolumns:: m{100pt} m{300pt}`` directive. This means that the first column should be 100 points wide and middle aligned. For the HTML look we simply give the table a *toctableopencv* class. Then, we can modify the look of the table by modifying the CSS of our web page. The CSS definitions go into the :file:`opencv/doc/_themes/blue/static/default.css_t` file.

 .. code-block:: css

@@ -250,16 +250,16 @@ However, you should not need to modify this. Just add these three lines (plus ke
      :hidden:
      ../mat - the basic image container/mat - the basic image container

-The page break entry comes for separating sections and should be only one in a TOC tree |reST|_ file. Finally, at the end of the TOC tree we need to add our tutorial to the *Sphinx* TOC tree system. *Sphinx* will generate from this the previous-next-up information for the HTML file and add items to the PDF according to the order here. By default this TOC tree directive generates a simple table of contents. However, we already created a fancy looking one so we no longer need this basic one. Therefore, we add the *hidden* option to do not show it.
+The page break entry is for separating sections and there should be only one in a TOC tree |reST|_ file. Finally, at the end of the TOC tree we need to add our tutorial to the *Sphinx* TOC tree system. *Sphinx* will use this to generate the previous/next/up information for the HTML file and add items to the PDF according to the order here. By default this TOC tree directive generates a simple table of contents. However, we already created a fancy looking one so we no longer need this basic one. Therefore, we add the *hidden* option to do not show it.

-The path is of a relative type. We step back in the file system and then go into the :file:`mat - the basic image container` directory for the :file:`mat - the basic image container.rst` file. Putting out the *rst* extension for the file is optional.
+The path is of a relative type. We step back in the file system and then go into the :file:`mat - the basic image container` directory for the :file:`mat - the basic image container.rst` file. Including the *rst* extension for the file is optional.

 Write the tutorial
 ==================

-Create a folder with the name of your tutorial. Preferably, use small letters only. Then create a text file in this folder with *rst* extension and the same name. If you have images for the tutorial create an :file:`images` folder and add your images there. When creating your images follow the guidelines described in the previous part!
+Create a folder with the name of your tutorial. Preferably, use small letters only. Then create a text file in this folder with the *rst* extension and the same name. If you have images for the tutorial create an :file:`images` folder and add your images there. When creating your images follow the guidelines described in the previous part!

-Now here's our recommendation for the structure of the tutorial (although, remember that this is not carved in the stone; if you have a better idea, use it!):
+Now here's our recommendation for the structure of the tutorial (although, remember that this is not carved in stone; if you have a better idea, use it!):

 .. container:: enumeratevisibleitemswithsquare

@@ -272,7 +272,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
        *******************************

     You start the tutorial by specifying a reference point by the ``.. _matTheBasicImageContainer:`` and then its title. The name of the reference point should be a unique one over the whole documentation. Therefore, do not use general names like *tutorial1*. Use the * character to underline the title for its full width. The subtitles of the tutorial should be underlined with = charachter.
-   + Goals. You start your tutorial by specifying what you will present. You can also enumerate the sub jobs to be done. For this you can use a bullet point construction. There is a single configuration file for both the reference manual and the tutorial documentation. In the reference manuals at the argument enumeration we do not want any kind of bullet point style enumeration. Therefore, by default all the bullet points at this level are set to do not show the dot before the entries in the HTML. You can override this by putting the bullet point in a container. I've defined a square type bullet point view under the name *enumeratevisibleitemswithsquare*. The CSS style definition for this is again in the  :file:`opencv\doc\_themes\blue\static\default.css_t` file. Here's a quick example of using it:
+   + Goals. You start your tutorial by specifying what you will present. You can also enumerate the sub jobs to be done. For this you can use a bullet point construction. There is a single configuration file for both the reference manual and the tutorial documentation. In the reference manuals, we do not want any kind of bullet point style enumeration for the argument lists. Therefore, by default all the bullet points at this level are set to do not show the dot before the entries in the HTML. You can override this by putting the bullet point in a container. I've defined a square type bullet point view under the name *enumeratevisibleitemswithsquare*. The CSS style definition for this is again in the  :file:`opencv\doc\_themes\blue\static\default.css_t` file. Here's a quick example of using it:

     .. code-block:: rst

@@ -281,7 +281,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
           + Second entry
           + Third entry

-     Note that you need the keep the indentation of the container directive. Directive indentations are always three (3) spaces. Here you may even give usage tips for your sample code.
+     Note that you need to keep the indentation of the container directive. Directive indentations are always three (3) spaces. Here you may even give usage tips for your sample code.
   + Source code. Present your samples code to the user. It's a good idea to offer a quick download link for the HTML page by using the *download* directive and pointing out where the user may find your source code in the file system by using the *file* directive:

     .. code-block:: rst
@@ -308,9 +308,9 @@ Now here's our recommendation for the structure of the tutorial (although, remem
           :tab-width: 4
           :lines: 1-8, 21-22, 24-

-     After the directive you specify a relative path to the file from what to import. It has four options: the language to use, if you add the ``:linenos:`` the line numbers will be shown, you can specify the tab size with the ``:tab-width:`` and you do not need to load the whole file, you can show just the important lines. Use the *lines* option to do not show redundant information (such as the *help* function). Here basically you specify ranges, if the second range line number is missing than that means that until the end of the file. The ranges specified here do no need to be in an ascending order, you may even reorganize the structure of how you want to show your sample inside the tutorial.
-   + The tutorial. Well here goes the explanation for why and what have you used. Try to be short, clear, concise and yet a thorough one. There's no magic formula. Look into a few already made tutorials and start out from there. Try to mix sample OpenCV code with your explanations. If with words is hard to describe something do not hesitate to add in a reasonable size image, to overcome this issue.
-     When you present OpenCV functionality it's a good idea to give a link to the used OpenCV data structure or function. Because the OpenCV tutorials and reference manual are in separate PDF files it is not possible to make this link work for the PDF format. Therefore, we use here only web page links to the http://docs.opencv.org website. The OpenCV functions and data structures may be used for multiple tasks. Nevertheless, we want to avoid that every users creates its own reference to a commonly used function. So for this we use the global link collection of *Sphinx*. This is defined in the file:`opencv/doc/conf.py` configuration file. Open it and go all the way down to the last entry:
+     After the directive you specify a relative path to the file from the directory containing the tutorial file. It has four options: the language to use, if you add the ``:linenos:`` the line numbers will be shown, you can specify the tab size with the ``:tab-width:`` and you do not need to load the whole file, you can show just the important lines. Use the *lines* option to hide redundant information (such as the *help* function). Here basically you specify ranges; if the second range line number is missing, then that means the range continues until the end of the file. The ranges specified here do no need to be in an ascending order: you may reorganize the structure of your sample inside the tutorial.
+   + The tutorial. Well here is where you put the explanation for what you have you used and why. Try to be short, clear, concise and yet thorough. There's no magic formula. Look into a few already made tutorials and start out from there. Try to mix sample OpenCV code with your explanations. If it's hard to describe something with words, don't hesitate to add in a reasonable size image to overcome this issue.
+     When you present OpenCV functionality it's a good idea to give a link to the OpenCV data structure or function used. Because the OpenCV tutorials and reference manual are in separate PDF files it is not possible to make this link work for the PDF format. Therefore, we only use web page links to the http://docs.opencv.org website here. The OpenCV functions and data structures may be used for multiple tasks. Nevertheless, we want to avoid every user creating their own reference to a commonly used function. So for this we use the global link collection of *Sphinx*. This is defined in the file:`opencv/doc/conf.py` configuration file. Open it and go all the way down to the last entry:

     .. code-block:: py

@@ -319,14 +319,18 @@ Now here's our recommendation for the structure of the tutorial (although, remem
           'hgvideo' : ('http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None)
           }

-     In short here we defined a new **hgvideo** directive that refers to an external webpage link. Its usage is:
+     In short, here we defined a new **hgvideo** directive that refers to an external webpage link. Its usage is:

     .. code-block:: rst

       A sample function of the highgui modules image write and read page is the :hgvideo:`imread() function <imread>`.

-     Which turns to: A sample function of the highgui modules image write and read page is the :hgvideo:`imread() function <imread>`. The argument you give between the <> will be put in place of the ``%s`` in the upper definition, and as the link will anchor to the correct function. To find out the anchor of a given function just open up a web page, search for the function and click on it. In the address bar it should appear like: ``http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#imread`` .  Look here for the name of the directives for each page of the OpenCV reference manual. If none present for one of them feel free to add one for it.
-     For formulas you can add LATEX code that will translate in the web pages into images. You do this by using the *math* directive. A usage tip:
+     Which turns into:
+
+        A sample function of the highgui modules image write and read page is the :hgvideo:`imread() function <imread>`.
+
+     The argument you give between the <> will be put in place of the ``%s`` in the above definition, allowing the link will anchor to the correct function. To find out the anchor of a given function just open up a web page, search for the function and click on it. In the address bar it should appear like: ``http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#imread``.  Look here for the name of the directives for each page of the OpenCV reference manual. If none are present for one of them feel free to add one for it.
+     For formulas, you can add LaTeX code that will translate in the web pages into images. You do this by using the *math* directive. A usage tip:

     .. code-block:: latex

@@ -339,12 +343,13 @@ Now here's our recommendation for the structure of the tutorial (although, remem

        MSE = \frac{1}{c*i*j} \sum{(I_1-I_2)^2}

-     You can even use it inline as ``:math:` MSE = \frac{1}{c*i*j} \sum{(I_1-I_2)^2}``` that turns into :math:`MSE = \frac{1}{c*i*j} \sum{(I_1-I_2)^2}`.
-     If you use some crazy LATEX library extension you need to add those to the ones to use at build time. Look into the file:`opencv/doc/conf.py` configuration file for more information on this.
-   + Results. Well, here depending on your program show one of more of the following:
-     - Console outputs by using the code block directive.
+     You can even use it inline, for example: ``:math:` MSE = \frac{1}{c*i*j} \sum{(I_1-I_2)^2}``` which turns into :math:`MSE = \frac{1}{c*i*j} \sum{(I_1-I_2)^2}`.
+     If you require some crazy LaTeX library extension you need to add those to the ones to use at build time. Look into the file:`opencv/doc/conf.py` configuration file for more information on this.
+   + Results. Well, depending on your program. you can show one of more of the following here:
+
+     - Console outputs, by using the code block directive.
     - Output images.
-     - Runtime videos, visualization. For this use your favorite screens capture software. `Camtasia Studio <http://www.techsmith.com/camtasia/>`_ certainly is one of the better choices, however their prices are out of this world. `CamStudio <http://camstudio.org/>`_ is a free alternative, but less powerful. If you do a video you can upload it to YouTube and then use the raw directive with HTML option to embed it into the generated web page:
+     - Runtime videos, visualization. For this use your favorite screens capture software. `Camtasia Studio <http://www.techsmith.com/camtasia/>`_ certainly is one of the better choices, however their prices are out of this world. `CamStudio <http://camstudio.org/>`_ is a free alternative, but less powerful. If you do a video, you can upload it to YouTube and then use the raw directive with HTML option to embed it into the generated web page:

       .. code-block:: rst

@@ -365,20 +370,20 @@ Now here's our recommendation for the structure of the tutorial (although, remem
          </div>

     When these aren't self-explanatory make sure to throw in a few guiding lines about what and why we can see.
-   + Build the documentation and check for errors or warnings. In the CMake make sure you check or pass the option for building documentation. Then simply build the **docs** project for the PDF file and the **docs_html** project for the web page. Read the output of the build and check for errors/warnings for what you have added. This is also the time to observe and correct any kind of *not so good looking* parts. Remember to keep clean our build logs.
-   + Read again your tutorial and check for both programming and spelling errors. If found any, please correct them.
+   + Build the documentation and check for errors or warnings. In the CMake make sure you check or pass the option for building documentation. Then simply build the **docs** project for the PDF file and the **docs_html** project for the web page. Read the output of the build and check for errors/warnings for what you have added. This is also the time to observe and correct any kind of *not so good looking* parts. Remember to keep our build logs clean.
+   + Read your tutorial again and check for both programming and spelling errors. If you found any, please correct them.

 Take home the pride and joy of a job well done!
 ===============================================

 Once you are done please make a GitHub pull request with the tutorial. Now, to see
-your work **live** you may need to wait some time. The PDFs are updated usually at
+your work **live** you may need to wait some time. The PDFs are usually updated at
 the launch of a new OpenCV version. The web pages are a little more diverse. They are
 automatically rebuilt nightly. Currently we use ``2.4`` and ``master`` branches for
 daily builds. So, if your pull request was merged to any of these branches, your
 material will be published at `docs.opencv.org/2.4 <http:/docs.opencv.org/2.4>`_ or
 `docs.opencv.org/master <http:/docs.opencv.org/master>`_ correspondingly. Everything
-that was added to ``2.4`` is merged to ``master`` branch every week. Although, we try
+that was added to ``2.4`` is merged to ``master`` branch every week. Although we try
 to make a build every night, occasionally we might freeze any of the branches to fix
 upcoming issues. During this it may take a little longer to see your work online,
 however if you submitted it, be sure that eventually it will show up.
@@ -46,7 +46,7 @@ Let's use a simple program such as DisplayImage.cpp shown below.
          printf("No image data \n");
          return -1;
      }
-      namedWindow("Display Image", CV_WINDOW_AUTOSIZE );
+      namedWindow("Display Image", WINDOW_AUTOSIZE );
      imshow("Display Image", image);

      waitKey(0);
@@ -73,3 +73,13 @@ Now we will learn how to write a simple Hello World Application in Xcode using O
 .. image:: images/output.png
     :alt: output
     :align: center
+
+*Changes for XCode5+ and iOS8+*
+===============================
+
+With the newer XCode and iOS versions you need to watch out for some specific details
+
+.. container:: enumerateattentionpoints
+
+   * The ``*.m`` file in your project should be renamed to ``*.mm``.
+   * You have to manually include AssetsLibrary.framework into your project, which is not done anymore by default.
@@ -1,6 +1,6 @@
-*******
-HighGUI
-*******
+*****************************************
+Senz3D and Intel Perceptual Computing SDK
+*****************************************

 .. highlight:: cpp

@@ -1,6 +1,6 @@
-*******
-HighGUI
-*******
+*****************
+Kinect and OpenNI
+*****************

 .. highlight:: cpp

@@ -6,7 +6,7 @@ Cascade Classifier Training

 Introduction
 ============
-The work with a cascade classifier inlcudes two major stages: training and detection.
+The work with a cascade classifier includes two major stages: training and detection.
 Detection stage is described in a documentation of ``objdetect`` module of general OpenCV documentation. Documentation gives some basic information about cascade classifier.
 Current guide is describing how to train a cascade classifier: preparation of a training data and running the training application.

@@ -14,26 +14,30 @@ Important notes
 ---------------
 There are two applications in OpenCV to train cascade classifier: ``opencv_haartraining`` and ``opencv_traincascade``. ``opencv_traincascade`` is a newer version, written in C++ in accordance to OpenCV 2.x API. But the main difference between this two applications is that ``opencv_traincascade`` supports both Haar [Viola2001]_ and LBP [Liao2007]_ (Local Binary Patterns) features. LBP features are integer in contrast to Haar features, so both training and detection with LBP are several times faster then with Haar features. Regarding the LBP and Haar detection quality, it depends on training: the quality of training dataset first of all and training parameters too. It's possible to train a LBP-based classifier that will provide almost the same quality as Haar-based one.

-``opencv_traincascade`` and ``opencv_haartraining`` store the trained classifier in different file formats. Note, the newer cascade detection interface (see ``CascadeClassifier`` class in ``objdetect`` module) support both formats. ``opencv_traincascade`` can save (export) a trained cascade in the older format. But ``opencv_traincascade`` and ``opencv_haartraining`` can not load (import) a classifier in another format for the futher training after interruption.
+``opencv_traincascade`` and ``opencv_haartraining`` store the trained classifier in different file formats. Note, the newer cascade detection interface (see ``CascadeClassifier`` class in ``objdetect`` module) support both formats. ``opencv_traincascade`` can save (export) a trained cascade in the older format. But ``opencv_traincascade`` and ``opencv_haartraining`` can not load (import) a classifier in another format for the further training after interruption.

 Note that ``opencv_traincascade`` application can use TBB for multi-threading. To use it in multicore mode OpenCV must be built with TBB.

-Also there are some auxilary utilities related to the training.
+Also there are some auxiliary utilities related to the training.

    * ``opencv_createsamples`` is used to prepare a training dataset of positive and test samples. ``opencv_createsamples`` produces dataset of positive samples in a format that is supported by both ``opencv_haartraining`` and ``opencv_traincascade`` applications. The output is a file with \*.vec extension, it is a binary format which contains images.

    * ``opencv_performance`` may be used to evaluate the quality of classifiers, but for trained by ``opencv_haartraining`` only. It takes a collection of marked up images, runs the classifier and reports the performance, i.e. number of found objects, number of missed objects, number of false alarms and other information.

-Since ``opencv_haartraining`` is an obsolete application, only ``opencv_traincascade`` will be described futher. ``opencv_createsamples`` utility is  needed to prepare a training data for ``opencv_traincascade``, so it will be described too.
+Since ``opencv_haartraining`` is an obsolete application, only ``opencv_traincascade`` will be described further. ``opencv_createsamples`` utility is  needed to prepare a training data for ``opencv_traincascade``, so it will be described too.


+``opencv_createsamples`` utility
+================================
+An ``opencv_createsamples`` utility provides functionality for dataset generating, writing and viewing. The term *dataset* is used here for both training set and test set.
+
 Training data preparation
 =========================
 For training we need a set of samples. There are two types of samples: negative and positive. Negative samples correspond to non-object images. Positive samples correspond to images with detected objects. Set of negative samples must be prepared manually, whereas set of positive samples is created using ``opencv_createsamples`` utility.

 Negative Samples
 ----------------
-Negative samples are taken from arbitrary images. These images must not contain detected objects. Negative samples are enumerated in a special file. It is a text file in which each line contains an image filename (relative to the directory of the description file) of negative sample image. This file must be created manually. Note that negative samples and sample images are also called background samples or background samples images, and are used interchangeably in this document. Described images may be of different sizes. But each image should be (but not nessesarily) larger then a training window size, because these images are used to subsample negative image to the training size.
+Negative samples are taken from arbitrary images. These images must not contain detected objects. Negative samples are enumerated in a special file. It is a text file in which each line contains an image filename (relative to the directory of the description file) of negative sample image. This file must be created manually. Note that negative samples and sample images are also called background samples or background samples images, and are used interchangeably in this document. Described images may be of different sizes. But each image should be (but not necessarily) larger then a training window size, because these images are used to subsample negative image to the training size.

 An example of description file:

@@ -57,7 +61,7 @@ Positive Samples
 ----------------
 Positive samples are created by ``opencv_createsamples`` utility. They may be created from a single image with object or from a collection of previously marked up images.

-Please note that you need a large dataset of positive samples before you give it to the mentioned utility, because it only applies perspective transformation. For example you may need only one positive sample for absolutely rigid object like an OpenCV logo, but you definetely need hundreds and even thousands of positive samples for faces. In the case of faces you should consider all the race and age groups, emotions and perhaps beard styles.
+Please note that you need a large dataset of positive samples before you give it to the mentioned utility, because it only applies perspective transformation. For example you may need only one positive sample for absolutely rigid object like an OpenCV logo, but you definitely need hundreds and even thousands of positive samples for faces. In the case of faces you should consider all the race and age groups, emotions and perhaps beard styles.

 So, a single object image may contain a company logo. Then a large set of positive samples is created from the given object image by random rotating, changing the logo intensity as well as placing the logo on arbitrary background. The amount and range of randomness can be controlled by command line arguments of ``opencv_createsamples`` utility.

@@ -117,9 +121,96 @@ Command line arguments:

    Height (in pixels) of the output samples.

-For following procedure is used to create a sample object instance:
+* ``-pngoutput``
+
+    With this option switched on ``opencv_createsamples`` tool generates a collection of PNG samples and a number of associated annotation files, instead of a single ``vec`` file.
+
+The ``opencv_createsamples`` utility may work in a number of modes, namely:
+
+* Creating training set from a single image and a collection of backgrounds:
+    * with a single ``vec`` file as an output;
+    * with a collection of JPG images and a file with annotations list as an output;
+    * with a collection of PNG images and associated files with annotations as an output;
+* Converting the marked-up collection of samples into a ``vec`` format;
+* Showing the content of the ``vec`` file.
+
+Creating training set from a single image and a collection of backgrounds with a single ``vec`` file as an output
+-----------------------------------------------------------------------------------------------------------------
+
+The following procedure is used to create a sample object instance:
 The source image is rotated randomly around all three axes. The chosen angle is limited my ``-max?angle``. Then pixels having the intensity from [``bg_color-bg_color_threshold``; ``bg_color+bg_color_threshold``] range are interpreted as transparent. White noise is added to the intensities of the foreground. If the ``-inv`` key is specified then foreground pixel intensities are inverted. If ``-randinv`` key is specified then algorithm randomly selects whether inversion should be applied to this sample. Finally, the obtained image is placed onto an arbitrary background from the background description file, resized to the desired size specified by ``-w`` and ``-h`` and stored to the vec-file, specified by the ``-vec`` command line option.

+Creating training set as a collection of PNG images
+---------------------------------------------------
+
+To obtain such behaviour the ``-img``, ``-bg``, ``-info`` and ``-pngoutput`` keys should be specified. The file name specified with ``-info`` key should include at least one level of directory hierarchy, that directory
+will be used as the top-level directory for the training set.
+For example, with the ``opencv_createsamples`` called as following:
+
+    .. code-block:: text
+
+        opencv_createsamples -img /home/user/logo.png -bg /home/user/bg.txt -info /home/user/annotations.lst -pngoutput -maxxangle 0.1 -maxyangle 0.1 -maxzangle 0.1
+
+The output will have the following structure:
+
+    .. code-block:: text
+
+        /home/user/
+            annotations/
+                0001_0107_0099_0195_0139.txt
+                0002_0107_0115_0195_0139.txt
+                ...
+            neg/
+                <background files here>
+            pos/
+                0001_0107_0099_0195_0139.png
+                0002_0107_0115_0195_0139.png
+                ...
+            annotations.lst
+
+With ``*.txt`` files in ``annotations`` directory containing information about object bounding box on the sample in a next format:
+
+    .. code-block:: text
+
+        Image filename : "/home/user/pos/0002_0107_0115_0195_0139.png"
+        Bounding box for object 1 "PASperson" (Xmin, Ymin) - (Xmax, Ymax) : (107, 115) - (302, 254)
+
+And ``annotations.lst`` file containing the list of all annotations file:
+
+    .. code-block:: text
+
+        /home/user/annotations/0001_0109_0209_0195_0139.txt
+        /home/user/annotations/0002_0241_0245_0139_0100.txt
+
+Creating test set as a collection of JPG images
+-----------------------------------------------
+
+This variant of ``opencv_createsamples`` usage is very similar to the previous one, but generates the output in a different format;
+To obtain such behaviour the ``-img``, ``-bg`` and ``-info`` keys should be specified.
+For example, with the ``opencv_createsamples`` called as following:
+
+    .. code-block:: text
+
+        opencv_createsamples -img /home/user/logo.png -bg /home/user/bg.txt -info annotations.lst -maxxangle 0.1 -maxyangle 0.1 -maxzangle 0.1
+
+Directory structure:
+
+    .. code-block:: text
+
+        info.dat
+        img1.jpg
+        img2.jpg
+
+File info.dat:
+
+    .. code-block:: text
+
+        img1.jpg  1  140 100 45 45
+        img2.jpg  2  100 200 50 50   50 30 25 25
+
+Converting the marked-up collection of samples into a ``vec`` format
+--------------------------------------------------------------------
+
 Positive samples also may be obtained from a collection of previously marked up images. This collection is described by a text file similar to background description file. Each line of this file corresponds to an image. The first element of the line is the filename. It is followed by the number of object instances. The following numbers are the coordinates of objects bounding rectangles (x, y, width, height).

 An example of description file:
@@ -150,6 +241,9 @@ In order to create positive samples from such collection, ``-info`` argument sho

 The scheme of samples creation in this case is as follows. The object instances are taken from images. Then they are resized to target samples size and stored in output vec-file. No distortion is applied, so the only affecting arguments are ``-w``, ``-h``, ``-show`` and ``-num``.

+Showing the content of the ``vec`` file
+---------------------------------------
+
 ``opencv_createsamples`` utility may be used for examining samples stored in positive samples file. In order to do this only ``-vec``, ``-w`` and ``-h`` parameters should be specified.

 Note that for training, it does not matter how vec-files with positive samples are generated. But ``opencv_createsamples`` utility is the only one way to collect/create a vector file of positive samples, provided by OpenCV.
@@ -158,7 +252,7 @@ Example of vec-file is available here ``opencv/data/vec_files/trainingfaces_24-2

 Cascade Training
 ================
-The next step is the training of classifier. As mentioned above ``opencv_traincascade`` or ``opencv_haartraining`` may be used to train a cascade classifier, but only the newer ``opencv_traincascade`` will be described futher.
+The next step is the training of classifier. As mentioned above ``opencv_traincascade`` or ``opencv_haartraining`` may be used to train a cascade classifier, but only the newer ``opencv_traincascade`` will be described further.

 Command line arguments of ``opencv_traincascade`` application grouped by purposes:

@@ -7,6 +7,6 @@ OpenCV User Guide

   ug_mat.rst
   ug_features2d.rst
-   ug_highgui.rst
+   ug_kinect.rst
   ug_traincascade.rst
   ug_intelperc.rst
@@ -25,6 +25,7 @@
 #elif defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
 # include <gui/IGraphicBufferProducer.h>
 # include <gui/BufferQueue.h>
+# include <ui/GraphicBuffer.h>
 #else
 # include <surfaceflinger/ISurface.h>
 #endif
@@ -681,6 +682,7 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
 # elif defined(ANDROID_r4_4_0)
    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
    handler->queue = new(buffer_queue_obj) BufferQueue();
+    handler->queue->setConsumerUsageBits(GraphicBuffer::USAGE_HW_TEXTURE);
    void* consumer_listener_obj = operator new(sizeof(ConsumerListenerStub) + MAGIC_TAIL);
    handler->listener = new(consumer_listener_obj) ConsumerListenerStub();
    handler->queue->consumerConnect(handler->listener, true);
@@ -1085,6 +1087,7 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
 # elif defined(ANDROID_r4_4_0)
    void* buffer_queue_obj = operator new(sizeof(BufferQueue) + MAGIC_TAIL);
    handler->queue = new(buffer_queue_obj) BufferQueue();
+    handler->queue->setConsumerUsageBits(GraphicBuffer::USAGE_HW_TEXTURE);
    handler->queue->consumerConnect(handler->listener, true);
    bufferStatus = handler->camera->setPreviewTarget(handler->queue);
    if (bufferStatus != 0)
@@ -1588,7 +1588,7 @@ The distorted point coordinates are [x'; y'] where
    x' = (\theta_d / r) x \\
    y' = (\theta_d / r) y

-Finally, convertion into pixel coordinates: The final pixel coordinates vector [u; v] where:
+Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:

 .. class:: center
 .. math::
@@ -0,0 +1,43 @@
+/*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.
+// 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*/
+
+#include "opencv2/calib3d/calib3d.hpp"
@@ -137,11 +137,13 @@ namespace cv
            CameraParameters camera;
        };

-        static void pnpTask(const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
-                     const Parameters& params, vector<int>& inliers, Mat& rvec, Mat& tvec,
+        template <typename OpointType, typename IpointType>
+        static void pnpTask(const int curIndex, const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
+                     const Parameters& params, vector<int>& inliers, int& bestIndex, Mat& rvec, Mat& tvec,
                     const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex)
        {
-            Mat modelObjectPoints(1, MIN_POINTS_COUNT, CV_32FC3), modelImagePoints(1, MIN_POINTS_COUNT, CV_32FC2);
+            Mat modelObjectPoints(1, MIN_POINTS_COUNT, CV_MAKETYPE(DataDepth<OpointType>::value, 3));
+            Mat modelImagePoints(1, MIN_POINTS_COUNT, CV_MAKETYPE(DataDepth<IpointType>::value, 2));
            for (int i = 0, colIndex = 0; i < (int)pointsMask.size(); i++)
            {
                if (pointsMask[i])
@@ -160,7 +162,7 @@ namespace cv
            for (int i = 0; i < MIN_POINTS_COUNT; i++)
                for (int j = i + 1; j < MIN_POINTS_COUNT; j++)
                {
-                    if (norm(modelObjectPoints.at<Vec3f>(0, i) - modelObjectPoints.at<Vec3f>(0, j)) < eps)
+                    if (norm(modelObjectPoints.at<Vec<OpointType,3> >(0, i) - modelObjectPoints.at<Vec<OpointType,3> >(0, j)) < eps)
                        num_same_points++;
                }
            if (num_same_points > 0)
@@ -174,7 +176,7 @@ namespace cv
                     params.useExtrinsicGuess, params.flags);


-            vector<Point2f> projected_points;
+            vector<Point_<OpointType> > projected_points;
            projected_points.resize(objectPoints.cols);
            projectPoints(objectPoints, localRvec, localTvec, params.camera.intrinsics, params.camera.distortion, projected_points);

@@ -184,25 +186,50 @@ namespace cv
            vector<int> localInliers;
            for (int i = 0; i < objectPoints.cols; i++)
            {
-                Point2f p(imagePoints.at<Vec2f>(0, i)[0], imagePoints.at<Vec2f>(0, i)[1]);
+                //Although p is a 2D point it needs the same type as the object points to enable the norm calculation
+                Point_<OpointType> p((OpointType)imagePoints.at<Vec<IpointType,2> >(0, i)[0],
+                                     (OpointType)imagePoints.at<Vec<IpointType,2> >(0, i)[1]);
                if ((norm(p - projected_points[i]) < params.reprojectionError)
-                    && (rotatedPoints.at<Vec3f>(0, i)[2] > 0)) //hack
+                    && (rotatedPoints.at<Vec<OpointType,3> >(0, i)[2] > 0)) //hack
                {
                    localInliers.push_back(i);
                }
            }

-            if (localInliers.size() > inliers.size())
+            resultsMutex.lock();
+            if ( (localInliers.size() > inliers.size()) || (localInliers.size() == inliers.size() && curIndex > bestIndex))
            {
-                resultsMutex.lock();
-
                inliers.clear();
                inliers.resize(localInliers.size());
                memcpy(&inliers[0], &localInliers[0], sizeof(int) * localInliers.size());
                localRvec.copyTo(rvec);
                localTvec.copyTo(tvec);
+                bestIndex = curIndex;
+            }
+            resultsMutex.unlock();
+        }

-                resultsMutex.unlock();
+        static void pnpTask(const int curIndex, const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
+            const Parameters& params, vector<int>& inliers, int& bestIndex, Mat& rvec, Mat& tvec,
+            const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex)
+        {
+            CV_Assert(objectPoints.depth() == CV_64F ||  objectPoints.depth() == CV_32F);
+            CV_Assert(imagePoints.depth() == CV_64F ||  imagePoints.depth() == CV_32F);
+            const bool objectDoublePrecision = objectPoints.depth() == CV_64F;
+            const bool imageDoublePrecision = imagePoints.depth() == CV_64F;
+            if(objectDoublePrecision)
+            {
+                if(imageDoublePrecision)
+                    pnpTask<double, double>(curIndex, pointsMask, objectPoints, imagePoints, params, inliers, bestIndex, rvec, tvec, rvecInit, tvecInit, resultsMutex);
+                else
+                    pnpTask<double, float>(curIndex, pointsMask, objectPoints, imagePoints, params, inliers, bestIndex, rvec, tvec, rvecInit, tvecInit, resultsMutex);
+            }
+            else
+            {
+                if(imageDoublePrecision)
+                    pnpTask<float, double>(curIndex, pointsMask, objectPoints, imagePoints, params, inliers, bestIndex, rvec, tvec, rvecInit, tvecInit, resultsMutex);
+                else
+                    pnpTask<float, float>(curIndex, pointsMask, objectPoints, imagePoints, params, inliers, bestIndex, rvec, tvec, rvecInit, tvecInit, resultsMutex);
            }
        }

@@ -212,12 +239,13 @@ namespace cv
            void operator()( const BlockedRange& r ) const
            {
                vector<char> pointsMask(objectPoints.cols, 0);
-                memset(&pointsMask[0], 1, MIN_POINTS_COUNT );
                for( int i=r.begin(); i!=r.end(); ++i )
                {
-                    generateVar(pointsMask);
-                    pnpTask(pointsMask, objectPoints, imagePoints, parameters,
-                            inliers, rvec, tvec, initRvec, initTvec, syncMutex);
+                    memset(&pointsMask[0], 0, objectPoints.cols );
+                    memset(&pointsMask[0], 1, MIN_POINTS_COUNT );
+                    generateVar(pointsMask, rng_base_seed + i);
+                    pnpTask(i, pointsMask, objectPoints, imagePoints, parameters,
+                            inliers, bestIndex, rvec, tvec, initRvec, initTvec, syncMutex);
                    if ((int)inliers.size() >= parameters.minInliersCount)
                    {
 #ifdef HAVE_TBB
@@ -229,14 +257,13 @@ namespace cv
                }
            }
            PnPSolver(const Mat& _objectPoints, const Mat& _imagePoints, const Parameters& _parameters,
-                      Mat& _rvec, Mat& _tvec, vector<int>& _inliers):
+                      Mat& _rvec, Mat& _tvec, vector<int>& _inliers, int& _bestIndex, uint64 _rng_base_seed):
            objectPoints(_objectPoints), imagePoints(_imagePoints), parameters(_parameters),
-            rvec(_rvec), tvec(_tvec), inliers(_inliers)
+            rvec(_rvec), tvec(_tvec), inliers(_inliers), bestIndex(_bestIndex), rng_base_seed(_rng_base_seed)
            {
+                bestIndex = -1;
                rvec.copyTo(initRvec);
                tvec.copyTo(initTvec);
-
-                generator.state = theRNG().state; //to control it somehow...
            }
        private:
            PnPSolver& operator=(const PnPSolver&);
@@ -246,13 +273,15 @@ namespace cv
            const Parameters& parameters;
            Mat &rvec, &tvec;
            vector<int>& inliers;
+            int& bestIndex;
+            const uint64 rng_base_seed;
            Mat initRvec, initTvec;

-            static RNG generator;
            static Mutex syncMutex;

-            void generateVar(vector<char>& mask) const
+          void generateVar(vector<char>& mask, uint64 rng_seed) const
            {
+                RNG generator(rng_seed);
                int size = (int)mask.size();
                for (int i = 0; i < size; i++)
                {
@@ -266,7 +295,6 @@ namespace cv
        };

        Mutex PnPSolver::syncMutex;
-        RNG PnPSolver::generator;

    }
 }
@@ -277,14 +305,15 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                        int iterationsCount, float reprojectionError, int minInliersCount,
                        OutputArray _inliers, int flags)
 {
+    const int _rng_seed = 0;
    Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
    Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();

    CV_Assert(opoints.isContinuous());
-    CV_Assert(opoints.depth() == CV_32F);
+    CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F);
    CV_Assert((opoints.rows == 1 && opoints.channels() == 3) || opoints.cols*opoints.channels() == 3);
    CV_Assert(ipoints.isContinuous());
-    CV_Assert(ipoints.depth() == CV_32F);
+    CV_Assert(ipoints.depth() == CV_32F || ipoints.depth() == CV_64F);
    CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);

    _rvec.create(3, 1, CV_64FC1);
@@ -308,11 +337,13 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
    Mat localRvec, localTvec;
    rvec.copyTo(localRvec);
    tvec.copyTo(localTvec);
+    int bestIndex;

    if (objectPoints.cols >= pnpransac::MIN_POINTS_COUNT)
    {
        parallel_for(BlockedRange(0,iterationsCount), cv::pnpransac::PnPSolver(objectPoints, imagePoints, params,
-                                                                               localRvec, localTvec, localInliers));
+                                                                               localRvec, localTvec, localInliers, bestIndex,
+                                                                               _rng_seed));
    }

    if (localInliers.size() >= (size_t)pnpransac::MIN_POINTS_COUNT)
@@ -320,7 +351,7 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
        if (flags != CV_P3P)
        {
            int i, pointsCount = (int)localInliers.size();
-            Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2);
+            Mat inlierObjectPoints(1, pointsCount, CV_MAKE_TYPE(opoints.depth(), 3)), inlierImagePoints(1, pointsCount, CV_MAKE_TYPE(ipoints.depth(), 2));
            for (i = 0; i < pointsCount; i++)
            {
                int index = localInliers[i];
@@ -329,7 +360,7 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                Mat colInlierObjectPoints = inlierObjectPoints(Rect(i, 0, 1, 1));
                objectPoints.col(index).copyTo(colInlierObjectPoints);
            }
-            solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, true, flags);
+            solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, false, flags);
        }
        localRvec.copyTo(rvec);
        localTvec.copyTo(tvec);
@@ -224,6 +224,42 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
            }
        }
    #endif
+    #if CV_NEON
+        int16x8_t ftz = vdupq_n_s16 ((short) ftzero);
+        uint8x8_t ftz2 = vdup_n_u8 (cv::saturate_cast<uchar>(ftzero*2));
+
+        for(; x <=size.width-9; x += 8 )
+        {
+            uint8x8_t c0 = vld1_u8 (srow0 + x - 1);
+            uint8x8_t c1 = vld1_u8 (srow1 + x - 1);
+            uint8x8_t d0 = vld1_u8 (srow0 + x + 1);
+            uint8x8_t d1 = vld1_u8 (srow1 + x + 1);
+
+            int16x8_t t0 = vreinterpretq_s16_u16 (vsubl_u8 (d0, c0));
+            int16x8_t t1 = vreinterpretq_s16_u16 (vsubl_u8 (d1, c1));
+
+            uint8x8_t c2 = vld1_u8 (srow2 + x - 1);
+            uint8x8_t c3 = vld1_u8 (srow3 + x - 1);
+            uint8x8_t d2 = vld1_u8 (srow2 + x + 1);
+            uint8x8_t d3 = vld1_u8 (srow3 + x + 1);
+
+            int16x8_t t2 = vreinterpretq_s16_u16 (vsubl_u8 (d2, c2));
+            int16x8_t t3 = vreinterpretq_s16_u16 (vsubl_u8 (d3, c3));
+
+            int16x8_t v0 = vaddq_s16 (vaddq_s16 (t2, t0), vaddq_s16 (t1, t1));
+            int16x8_t v1 = vaddq_s16 (vaddq_s16 (t3, t1), vaddq_s16 (t2, t2));
+
+
+            uint8x8_t v0_u8 = vqmovun_s16 (vaddq_s16 (v0, ftz));
+            uint8x8_t v1_u8 = vqmovun_s16 (vaddq_s16 (v1, ftz));
+            v0_u8 =  vmin_u8 (v0_u8, ftz2);
+            v1_u8 =  vmin_u8 (v1_u8, ftz2);
+            vqmovun_s16 (vaddq_s16 (v1, ftz));
+
+            vst1_u8 (dptr0 + x, v0_u8);
+            vst1_u8 (dptr1 + x, v1_u8);
+        }
+    #endif

        for( ; x < size.width-1; x++ )
        {
@@ -236,10 +272,19 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
        }
    }

+#if CV_NEON
+    uint8x16_t val0_16 = vdupq_n_u8 (val0);
+#endif
+
    for( ; y < size.height; y++ )
    {
        uchar* dptr = dst.ptr<uchar>(y);
-        for( x = 0; x < size.width; x++ )
+        x = 0;
+    #if CV_NEON
+        for(; x <= size.width-16; x+=16 )
+            vst1q_u8 (dptr + x, val0_16);
+    #endif
+        for(; x < size.width; x++ )
            dptr[x] = val0;
    }
 }
@@ -510,6 +555,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
                            Mat& disp, Mat& cost, const CvStereoBMState& state,
                            uchar* buf, int _dy0, int _dy1 )
 {
+
    const int ALIGN = 16;
    int x, y, d;
    int wsz = state.SADWindowSize, wsz2 = wsz/2;
@@ -525,6 +571,15 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
    int uniquenessRatio = state.uniquenessRatio;
    short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT);

+#if CV_NEON
+    CV_Assert (ndisp % 8 == 0);
+    int32_t d0_4_temp [4];
+    for (int i = 0; i < 4; i ++)
+        d0_4_temp[i] = i;
+    int32x4_t d0_4 = vld1q_s32 (d0_4_temp);
+    int32x4_t dd_4 = vdupq_n_s32 (4);
+#endif
+
    int *sad, *hsad0, *hsad, *hsad_sub, *htext;
    uchar *cbuf0, *cbuf;
    const uchar* lptr0 = left.data + lofs;
@@ -560,12 +615,29 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
        for( y = -dy0; y < height + dy1; y++, hsad += ndisp, cbuf += ndisp, lptr += sstep, rptr += sstep )
        {
            int lval = lptr[0];
+        #if CV_NEON
+            int16x8_t lv = vdupq_n_s16 ((int16_t)lval);
+
+            for( d = 0; d < ndisp; d += 8 )
+            {
+                int16x8_t rv = vreinterpretq_s16_u16 (vmovl_u8 (vld1_u8 (rptr + d)));
+                int32x4_t hsad_l = vld1q_s32 (hsad + d);
+                int32x4_t hsad_h = vld1q_s32 (hsad + d + 4);
+                int16x8_t diff = vabdq_s16 (lv, rv);
+                vst1_u8 (cbuf + d, vmovn_u16(vreinterpretq_u16_s16(diff)));
+                hsad_l = vaddq_s32 (hsad_l, vmovl_s16(vget_low_s16 (diff)));
+                hsad_h = vaddq_s32 (hsad_h, vmovl_s16(vget_high_s16 (diff)));
+                vst1q_s32 ((hsad + d), hsad_l);
+                vst1q_s32 ((hsad + d + 4), hsad_h);
+            }
+        #else
            for( d = 0; d < ndisp; d++ )
            {
                int diff = std::abs(lval - rptr[d]);
                cbuf[d] = (uchar)diff;
                hsad[d] = (int)(hsad[d] + diff);
            }
+        #endif
            htext[y] += tab[lval];
        }
    }
@@ -595,12 +667,31 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
             hsad += ndisp, lptr += sstep, lptr_sub += sstep, rptr += sstep )
        {
            int lval = lptr[0];
+        #if CV_NEON
+            int16x8_t lv = vdupq_n_s16 ((int16_t)lval);
+            for( d = 0; d < ndisp; d += 8 )
+            {
+                int16x8_t rv = vreinterpretq_s16_u16 (vmovl_u8 (vld1_u8 (rptr + d)));
+                int32x4_t hsad_l = vld1q_s32 (hsad + d);
+                int32x4_t hsad_h = vld1q_s32 (hsad + d + 4);
+                int16x8_t cbs = vreinterpretq_s16_u16 (vmovl_u8 (vld1_u8 (cbuf_sub + d)));
+                int16x8_t diff = vabdq_s16 (lv, rv);
+                int32x4_t diff_h = vsubl_s16 (vget_high_s16 (diff), vget_high_s16 (cbs));
+                int32x4_t diff_l = vsubl_s16 (vget_low_s16 (diff), vget_low_s16 (cbs));
+                vst1_u8 (cbuf + d, vmovn_u16(vreinterpretq_u16_s16(diff)));
+                hsad_h = vaddq_s32 (hsad_h, diff_h);
+                hsad_l = vaddq_s32 (hsad_l, diff_l);
+                vst1q_s32 ((hsad + d), hsad_l);
+                vst1q_s32 ((hsad + d + 4), hsad_h);
+            }
+        #else
            for( d = 0; d < ndisp; d++ )
            {
                int diff = std::abs(lval - rptr[d]);
                cbuf[d] = (uchar)diff;
                hsad[d] = hsad[d] + diff - cbuf_sub[d];
            }
+        #endif
            htext[y] += tab[lval] - tab[lptr_sub[0]];
        }

@@ -616,8 +707,24 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,

        hsad = hsad0 + (1 - dy0)*ndisp;
        for( y = 1 - dy0; y < wsz2; y++, hsad += ndisp )
+        {
+        #if CV_NEON
+            for( d = 0; d <= ndisp-8; d += 8 )
+            {
+                int32x4_t s0 = vld1q_s32 (sad + d);
+                int32x4_t s1 = vld1q_s32 (sad + d + 4);
+                int32x4_t t0 = vld1q_s32 (hsad + d);
+                int32x4_t t1 = vld1q_s32 (hsad + d + 4);
+                s0 = vaddq_s32 (s0, t0);
+                s1 = vaddq_s32 (s1, t1);
+                vst1q_s32 (sad + d, s0);
+                vst1q_s32 (sad + d + 4, s1);
+            }
+        #else
            for( d = 0; d < ndisp; d++ )
                sad[d] = (int)(sad[d] + hsad[d]);
+        #endif
+        }
        int tsum = 0;
        for( y = -wsz2-1; y < wsz2; y++ )
            tsum += htext[y];
@@ -628,7 +735,61 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
            int minsad = INT_MAX, mind = -1;
            hsad = hsad0 + MIN(y + wsz2, height+dy1-1)*ndisp;
            hsad_sub = hsad0 + MAX(y - wsz2 - 1, -dy0)*ndisp;
+        #if CV_NEON
+            int32x4_t minsad4 = vdupq_n_s32 (INT_MAX);
+            int32x4_t mind4 = vdupq_n_s32(0), d4 = d0_4;

+            for( d = 0; d <= ndisp-8; d += 8 )
+            {
+                int32x4_t u0 = vld1q_s32 (hsad_sub + d);
+                int32x4_t u1 = vld1q_s32 (hsad + d);
+
+                int32x4_t v0 = vld1q_s32 (hsad_sub + d + 4);
+                int32x4_t v1 = vld1q_s32 (hsad + d + 4);
+
+                int32x4_t usad4 = vld1q_s32(sad + d);
+                int32x4_t vsad4 = vld1q_s32(sad + d + 4);
+
+                u1 = vsubq_s32 (u1, u0);
+                v1 = vsubq_s32 (v1, v0);
+                usad4 = vaddq_s32 (usad4, u1);
+                vsad4 = vaddq_s32 (vsad4, v1);
+
+                uint32x4_t mask = vcgtq_s32 (minsad4, usad4);
+                minsad4 = vminq_s32 (minsad4, usad4);
+                mind4 = vbslq_s32(mask, d4, mind4);
+
+                vst1q_s32 (sad + d, usad4);
+                vst1q_s32 (sad + d + 4, vsad4);
+                d4 = vaddq_s32 (d4, dd_4);
+
+                mask = vcgtq_s32 (minsad4, vsad4);
+                minsad4 = vminq_s32 (minsad4, vsad4);
+                mind4 = vbslq_s32(mask, d4, mind4);
+
+                d4 = vaddq_s32 (d4, dd_4);
+
+            }
+            int32x2_t mind4_h = vget_high_s32 (mind4);
+            int32x2_t mind4_l = vget_low_s32 (mind4);
+            int32x2_t minsad4_h = vget_high_s32 (minsad4);
+            int32x2_t minsad4_l = vget_low_s32 (minsad4);
+
+            uint32x2_t mask = vorr_u32 (vclt_s32 (minsad4_h, minsad4_l), vand_u32 (vceq_s32 (minsad4_h, minsad4_l), vclt_s32 (mind4_h, mind4_l)));
+            mind4_h = vbsl_s32 (mask, mind4_h, mind4_l);
+            minsad4_h = vbsl_s32 (mask, minsad4_h, minsad4_l);
+
+            mind4_l = vext_s32 (mind4_h,mind4_h,1);
+            minsad4_l = vext_s32 (minsad4_h,minsad4_h,1);
+
+            mask = vorr_u32 (vclt_s32 (minsad4_h, minsad4_l), vand_u32 (vceq_s32 (minsad4_h, minsad4_l), vclt_s32 (mind4_h, mind4_l)));
+            mind4_h = vbsl_s32 (mask, mind4_h, mind4_l);
+            minsad4_h = vbsl_s32 (mask, minsad4_h, minsad4_l);
+
+            mind = (int) vget_lane_s32 (mind4_h, 0);
+            minsad = sad[mind];
+
+        #else
            for( d = 0; d < ndisp; d++ )
            {
                int currsad = sad[d] + hsad[d] - hsad_sub[d];
@@ -639,6 +800,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
                    mind = d;
                }
            }
+        #endif
            tsum += htext[y + wsz2] - htext[y - wsz2 - 1];
            if( tsum < textureThreshold )
            {
--- a/Show More
+++ b/Show More